CN104398240B - Methods, devices and systems for analyzing image - Google Patents
Methods, devices and systems for analyzing image Download PDFInfo
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- CN104398240B CN104398240B CN201410508286.4A CN201410508286A CN104398240B CN 104398240 B CN104398240 B CN 104398240B CN 201410508286 A CN201410508286 A CN 201410508286A CN 104398240 B CN104398240 B CN 104398240B
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- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
- A61B5/015—By temperature mapping of body part
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
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Abstract
Disclose a kind of interior three-dimensional heat determined in the live body can distinguishable region method.Methods described includes that acquisition is defined on the three dimensions of the live body and represents and that with the synthesis heat space image of the dsc data being arranged in multiple picture element unit cell griddings on the surface that the three dimensions is represented wherein each described picture element unit cell is represented by the density value on the grid.Methods described is additionally included on the grid set for searching at least one picture element unit cell represented by substantially similar density value.For the set of at least several picture element unit cells, the multiple tracks of methods described definition, each track is associated with least one pair of picture element unit cell of the set and is defined so that each point of the track is at the equal hot distance of single picture element unit cell in described pair.The multiple track is used for determining that the interior three-dimensional heat can distinguishable region.
Description
The application is applicant " Real Imaging Ltd. " to be submitted on 2 25th, 2010, entitled " be used for
The divisional application of the Chinese patent application No.200880104306.4 of the method, apparatus and system of thermal imaging ".
Technical field
The present invention relates to be imaged, and more particularly, to for obtaining and analyzing thermography (thermographic
Images method, apparatus and system).
Background technology
The use being imaged in medical diagnosis traced back to for 20th century in early days.Be currently, there are a large amount of different image modes by
Doctor arranges, it is allowed to the sign of imaging and normal tissue and diseased tissue to sclerous tissues and soft tissue.
In order to identify the purpose of inflammation, heat can demarcation of location during infrared imaging be used to characterize human body.Infrared camera
Generation is referred to as the two dimensional image of thermography.Thermography is received in multiple IR wavelength models typically via from the body of object
Radiation on any one wavelength for enclosing and analyze the radiation and be obtained providing the two-dimensional temperature map on surface.Thermography
Can be in visual image and corresponding temperature data any one or both form.For coming for infra-red thermal imaging
The image comprising multiple pixel count strong points is typically provided from the output of infrared camera, each pixel is provided and is displayed visually
Temperature information, use color code or gray level code.The temperature information can further be processed to generate by computer software
The mean temperature of the zone of dispersion of such as described image or described image, is associated by Dui with all pixels or its subset
Temperature data be averaged.
Based on the thermography, position described in doctor diagnosed, and determine for example whether the position includes inflammation, while high
Degree relies on experience and intuition.
United States Patent (USP) No.7,072,504 is disclosed can with two using two infrared cameras (left side and the right)
See the method that photocamera (left side and the right) is combined.The infrared camera be used to provide for three-dimensional thermography and
The visible light camera is used to provide for three-dimensional visible images.In overlapping manner the three-dimensional thermography is shown to user
With the three-dimensional visible images.
Equally it would be of interest to United States Patent (USP) No.6,442,419, it discloses a kind of scanning system, the scanning system bag
Include and perform from the infrared detection mechanism of 360 ° of data of object extraction, and signal decoding mechanism, the signal decode mechanism from
The infrared detection authorities electric signal and the signal is integrated into the correspondence of three-D profile curved surface and the object
Temperature Distribution data in.
The content of international patent application No.2006/003658 by reference be merged in herein, it discloses including it is non-thermal into
The image data acquisition function of picture and the system of thermography data acquisition functions.The image data acquisition function of the non-thermographic
The view data of non-thermographic is obtained, and the thermography data acquisition functions obtain thermal imagery diagram data.
The need for being widely recognized as to the method for obtaining and analyzing thermography, equipment and system, and with this
The method of kind, equipment and system will be very favorable.
The content of the invention
According to an aspect of the invention, there is provided the method for calculating the hot path in body.The method includes：A () will
Dsc data is associated thus to generate dsc data figure on said surface with the surface of at least a portion body；B () is in the heat
At least one heat is identified in datagram can distinguishable region；And (c) be based at least one heat can distinguishable region surface distributed
Calculate the hot path at least a portion body.
According to feature other in the preferred embodiments of the present invention described below, by from the hot spoke of the surface collection
Penetrate to realize (a).
According to further feature in described preferred embodiment, the method also includes being at least a portion body
The emissivity of the tissue in body and correct the heat radiation of the collection.
According to further feature in described preferred embodiment, at least one heat can distinguishable region include extremely
Few two heat can distinguishable region.
According to another aspect of the present invention, there is provided the method for calculating the hot path in live body, it includes：Defined
The synthesis heat of the dsc data for representing and being associated with the surface represented with the three dimensions in the three dimensions of live body
Spatial image.The dsc data gridding is arranged on said surface with multiple picture element unit cells preferably, each picture list
Unit is represented by the density value on grid.The method be additionally included in the heat space image identify at least one heat can diacritical point area
(spot), and by the heat space image and the heat can diacritical point area be used to calculate the hot path.
According to feature other in the preferred embodiments of the present invention described below, the method also includes using at least two
Individual hot orbit can distinguishable region so as to the interior three-dimensional heat determined in the live body
According to further feature in described preferred embodiment, the method also includes：Obtain and represent the live body
Different attitudes additional synthesis heat space image；Repeat the heat can diacritical point area mark and the gradient calculation so as to true
Surely the interior three-dimensional heat corresponding to the different attitudes can distinguishable region；And compare hot corresponding to the interior three-dimensional of different attitudes
Can distinguishable region.
Yet other aspects of the invention, there is provided the device for calculating the hot path in live body, it includes：It is defeated
Enter unit, the input block is used to receive synthesis heat space image；Point area mark unit, the point identification unit is used in institute
State synthesis heat space image in identify at least one heat can diacritical point area；And calculator, the calculator is for based on described
Heat space image and the heat can diacritical point area calculate the hot path in live body.
According to further feature in described preferred embodiment, the device also includes area determination unit, described
Area determination unit is designed and configured for being determined interior three-dimensional Re Ke areas in the live body based at least two hot orbits
Subregion.
According to further feature in described preferred embodiment, by the sky for calculating the surface at the area
Between gradient calculate the hot path.
Yet other aspects of the invention, there is provided determine interior three-dimensional heat in the live body can distinguishable region side
Method, the method includes：Obtain synthesis heat space image；At least one represented by generally similar density value is searched on grid
Individual picture element unit cell set；And at least one of described at least one picture element unit cell set, the multiple tracks of definition, each
Track is associated with least one pair of picture element unit cell in the set and is defined to each point of the track away from this pair
In the equal hot distance of single picture element unit cell at, and the plurality of track is used to determine that the interior three-dimensional heat can distinguish area
Domain.
Yet other aspects of the invention, there is provided for determine interior three-dimensional heat in live body can distinguishable region dress
Put, the device includes：Input block, the input block is used to receive synthesis heat space image；Search unit, the search list
Unit on grid for searching at least one picture element unit cell set represented by generally similar density value；Track definition list
Unit, the track definition unit is used to define multiple tracks, and each track is associated with least one pair of picture element unit cell of the set
And it is defined at the equal hot distance of each single picture element unit cell of the point in away from this pair of the track；And region
Determining unit, the area determination unit is used to determine that the interior three-dimensional heat can distinguishable region based on the plurality of track.
According to feature other in the preferred embodiments of the present invention described below, at least one of the plurality of track
Track is plane.
According to feature again other in described preferred embodiment, defined at least in part in described by the plurality of track
Portion's Three Dimensional Thermal can distinguishable region.
According to other feature again in described preferred embodiment, based on the plurality of track at least several phase
Intersection determines that the interior three-dimensional heat can distinguishable region.
According to feature again other in described preferred embodiment, the method is additionally included in the interior three-dimensional Re Ke areas
Locating source region in subregion.
According to other feature again in described preferred embodiment, the device also includes source region locator, for
The interior three-dimensional heat can locating source region in distinguishable region.
According to feature again other in described preferred embodiment, from by center of gravity, the center of gravity of weighting and the inside three
Dimension heat can distinguishable region barycenter constitute group in select the source region.
According to other aspects of the invention, there is provided determine the method that the multiple heat in live body can distinguish object, the method
Including：Obtain synthesis heat space image, wherein with least one heat on the surface can diacritical point area closure isothermal
Line characterizes the dsc data；Determine that the interior three-dimensional heat in the live body can distinguish area based on the synthesis heat space image
Domain；The three dimensions is analyzed to represent to represent interior definition line of demarcation in the three dimensions, wherein belonging to line of demarcation side
On point correspond to single hot-zone Fen Dian areas on the surface, and belong to the point on the line of demarcation opposite side corresponding to institute
State the multiple hot-zone Fen Dian areas on surface；And by the interior three-dimensional heat can distinguishable region compared with the line of demarcation with
Just determine that the heat in live body can distinguish the quantity of object.
Of the invention and other aspects, there is provided for determining that the multiple heat in live body can distinguish the device of object,
The device includes：Input block, the input block is used to receive synthesis heat space image；Area determination unit, the region
Interior three-dimensional heat can distinguishable region during determining unit is used to determine live body based on the synthesis heat space image；Analyzer, it is described
Analyzer is used for analyzing three-dimensional space representation to represent interior definition line of demarcation in the three dimensions, wherein belonging to line of demarcation one
Point on side corresponds to the single hot-zone Fen Dian areas on surface, and belongs to the point on the opposite side of line of demarcation corresponding on surface
Multiple hot-zone Fen Dian areas；And comparing unit, the comparing unit is used for can distinguishable region and line of demarcation by interior three-dimensional heat
Compare to determine that the heat in live body can distinguish the quantity of object.
According to feature other in the preferred embodiments of the present invention described below, the method also includes obtaining at least one
Individual thermography and at least one thermography is mapped to three bit space represents to form the synthesis heat space
Image
According to further feature in described preferred embodiment, the mapping includes the emissivity number according to live body
According to weighting at least one thermography.
According to further feature in described preferred embodiment, at least one thermography includes multiple thermal imagerys
Figure.
According to further feature in described preferred embodiment, when the live body is in different attitudes, institute
At least two stated in thermography are acquired.
According to further feature in described preferred embodiment, described at least one additional synthesis heat space figure
Different attitudes as corresponding to the live body.
According to further feature in described preferred embodiment, the method also includes：Obtain multiple the three of live body
Dimension space is represented；Represented at least two three dimensions, analyze each three dimensions and represent so as in the three dimensions table
Isothermal expected topological structure is determined on the surface for showing；And based on the expected topological structure be described at least one
The attitude selection viewpoint of thermography and/or the live body.
According to further feature in described preferred embodiment, the method also includes：Obtain at least the one of live body
Individual additional three dimensions represents, its different attitude for corresponding to different viewpoint relative to live body and/or live body；It is based on
Interior three-dimensional heat in the live body can distinguishable region, the structure on the surface that described at least one additional three dimensions is represented
Isothermal expected topological structure；Obtain and added corresponding at least one of the different viewpoint and/or different attitudes
Synthesis heat space image；By described at least one synthesis heat space image compared with the isothermal expected topological structure
Compared with；And issue the report related to the comparing.
According to further feature in described preferred embodiment, method also includes building the three dimensions table
Show.
According to further feature in described preferred embodiment, the acquisition three dimensions is represented including use
Pattern in infrared ray distance irradiates the body, and at least one thermal imaging apparatus are used to obtain the body and the pattern
At least one thermography, calculate the range data corresponding to the pattern, and by least one thermography and described
The three dimensions that range data is used to build body is represented.
Of the invention and other aspects, there is provided for the system of the anterior heat space imaging of live body, the system bag
Include has for obtaining the internal of at least one thermal imaging apparatus of at least one anterior thermography of live body wherein
Detection system, and data processor, the data processor are used to analyze the view data received from the internal detection system
To provide and showing the anterior synthesis heat space image of live body.
According to further feature in described preferred embodiment, the system is also included for obtaining the described of live body
At least one visual light imaging equipment of at least one anterior visible images.
According to further feature in described preferred embodiment, the system is also included for irradiating body using pattern
The anterior irradiation apparatus of body.
According to further feature in described preferred embodiment, the internal detection system is applied to and passes through anus
And be inserted into.
According to further feature in described preferred embodiment, the internal detection system is applied to and passes through vagina
And be inserted into.
According to further feature in described preferred embodiment, the internal detection system is applied to and passes through urethra
And be inserted into.
According to further feature in described preferred embodiment, the internal detection system is applied to and passes through esophagus
And be inserted into.
According to further feature in described preferred embodiment, the internal detection system is installed in conveyer
On structure.
According to further feature in described preferred embodiment, from the group being made up of endoscope detector and conduit
The middle selection conveying mechanism.
A kind of other aspect of the invention, there is provided method, it includes：Live body is obtained from predetermined viewpoint
A series of thermographies；Compare the thermography to extract the thermal change in the thermography；And when the thermal change is pre-
When below the thresholding for first determining, issue indicates the live body to be in the report of generally stable Warm status.
According to further feature in described preferred embodiment, the acquisition and compare generally while being held
OK.
According to further feature in described preferred embodiment, at least some thermographies were previously obtained with single
The thermography for taking compares.
According to further feature in described preferred embodiment, at least some thermographies were previously obtained with multiple
The thermography for taking compares.
According to further feature in described preferred embodiment, the method is additionally included on display device and shows institute
State thermal change.
Aspect of the invention and other, there is provided the method for position of the monitoring Medical Devices in live body, its bag
Include：Temperature setting by the Medical Devices is the temperature fully different from the mean temperature of live body, forms at least the one of live body
Individual synthesis heat space image, and at least one synthesis heat space image is used to monitor position of the pluggable equipment in live body
Put.
Even further aspect of the invention, there is provided a kind of Medical Devices that can be plugged into live body, it includes
The hollow-core construction of the optical fiber of the distal end is extended to near-end, distal end and from the near-end, the optical fiber is designed and builds
It is that heat radiation is sent to the near-end from the distal end.
According to further feature in described preferred embodiment, the hollow-core construction and the optical fiber are by different materials
Material is made.
According to further feature in described preferred embodiment, the optical fiber is by the passage in the hollow-core construction
Limited.
Even further aspect of the invention, there is provided for the irradiation apparatus of imaging system of finding range, it includes using
In the generation light source of light beam, dynamic beam deflector and the image formation component with multiple regions distinguished, described in each
Image formation component is designed to form different images, wherein the dynamic beam deflector is designed and configured to scanning
Described image forms element and forms different images with the different time.
According to further feature in described preferred embodiment, the light source includes laser equipment, and described
Light beam is laser beam.
According to further feature in described preferred embodiment, the dynamic beam deflector includes moveable
Mirror.
According to further feature in described preferred embodiment, the dynamic beam deflector includes electric light material
Material.
Even further aspect of the invention, there is provided build the method that the three dimensions of body is represented, the method
Including：Body is irradiated with the pattern in infrared ray distance；At least one thermal imaging apparatus are used to obtain the body and described
At least one thermography of pattern；Calculate the range data corresponding to the pattern；And by least one thermography and institute
State range data and represented for building the three dimensions of the body.
According to further feature in described preferred embodiment, the acquisition includes different being regarded from least two
Point obtains at least two thermographies of the body and the pattern.
Even further aspect of the invention, there is provided the system that the three dimensions for building body is represented, its
Including：Irradiation apparatus, the irradiation apparatus is designed and builds for irradiating body using the pattern in infrared ray distance；At least
One thermal imaging apparatus, at least one thermal imaging apparatus are designed and build for obtaining the body and the pattern
At least one thermography；And data processor, the data processor be designed and configured for calculate correspond to the figure
The range data of case, and at least one thermography and the range data are used to build the three dimensions of the body
Represent.
According to further feature in described preferred embodiment, at least one thermal imaging apparatus be designed and
Build at least two thermographies for obtaining the body and the pattern from least two different viewpoints.
According to further feature in described preferred embodiment, the pattern is selected to allow to be compiled by the time
Code builds three dimensions and represents.
According to further feature in described preferred embodiment, the pattern is selected to allow to be compiled by space
Code builds three dimensions and represents.
According to further feature in described preferred embodiment, by flying time technology (time-of-
Fiight technique) calculate the range data.
According to further feature in described preferred embodiment, calculate described apart from number by triangulation
According to.
According to further feature in described preferred embodiment, 20 milliseconds of the pulse width ratio of the irradiation is characterized
It is short.
According to further feature in described preferred embodiment, the acquisition of at least one thermography is being less than
20 milliseconds of time for exposure and be characterized.
According to further feature in described preferred embodiment, the acquisition of at least one thermography is included in
Multiple reading during the single time for exposure.
According to further feature, the reading quilt at least twice in the multiple reading in described preferred embodiment
Cumulatively perform.
According to further feature in described preferred embodiment, the irradiation is realized by laser.
According to further feature in described preferred embodiment, the method also includes：For at least some thermal imagerys
Figure, filters out from the hot view data generated by the body.
According to feature again other in preferred embodiment, the method also includes obtaining at least one of body without pattern
Thermography, wherein the view data that filters out includes the thermography that will be obtained without the pattern from being obtained with the pattern
Subtracted in thermography.
According to further feature in described preferred embodiment, described image data processor is designed and configured
For filtering out from the hot view data generated by the body.
According to further feature in described preferred embodiment, described image data processor is designed and configured
It is that the thermography obtained without the pattern is subtracted from the thermography obtained with the pattern, so as to filter out described image
Data.
Aspect of the invention and other, there is provided build the method that the three dimensions of body is represented, methods described
Including：Irradiate the body with series of points area, wherein at least one of series point area can with the series in it is all its
He puts trivial separate；At least one imaging device is used to obtain the body and described from least two different viewpoints and is
At least two images in Lie Dian areas；The series of points area is positioned in each image；In each image, identify this at least one
Individual differentiable area and by least one differentiable area be used for identify it is described series in every other point area；
And calculate the range data for the series of points area and the range data is used to build the three-dimensional of the body
Space representation.
Aspect of the invention and other, there is provided the method for calibration range imaging system, it includes：Access figure
Database, the database includes multiple entries, and each entry has figure entry and the viewpoint corresponding to the figure entry
Angle entry；Body is irradiated with figure；At least one imaging device is used to obtain described from least two different viewpoints
At least two images of body and the figure；For at least two images, the figure is identified, search and institute in database
State the generally similar figure entry of figure and extract corresponding angle entry from the database, thus provide at least two
Angle；Based at least two angle, calculate the range data for the figure and be used to the range data calibrate
The range finding imaging system.
A kind of aspect of the invention and other, there is provided method of calibration heat space imaging system, system tool
There are at least one at least one thermal imaging apparatus and at least one visual light imaging equipment, the method includes：In multiple wavelength
Body is irradiated with pattern, wherein at least one of the plurality of wavelength wavelength can be examined by one at least one thermal imaging apparatus
At least one of survey and the plurality of wavelength wavelength can be detected by one at least one visual light imaging equipment；Will be described
At least one at least one thermal imaging apparatus are used to obtain at least one thermography of the pattern, and visible by least one
Light imaging apparatus are used to obtain at least one visible images of the pattern；And use the thermography and the visible ray
Three-dimensional thermal imaging apparatus described in image calibration.
According to further feature in described preferred embodiment, at least one thermography and at least one visible
Light image is generally acquired simultaneously.
Even further aspect of the invention, there is provided build the method that the three dimensions of body is represented, the method
Including：Shone for generating the pattern that at least two different photochromic pattern projectors are encoded using exercisable as follows
Penetrate body：So that the pattern of the coding of different colours mutually staggers；At least one image of pattern of the coding is obtained to carry
For view data；And the three-dimensional position of the pattern based on the described image data calculating coding, thus build the body
Three dimensions represent.
Aspect of the invention and other, there is provided the system that the three dimensions for building body is represented, this is
System includes：Pattern projector, the pattern projector is exercisable for mutually wrong with the pattern for causing the coding of different colours
The mode the opened pattern of at least two different photochromic codings irradiates the body；Imaging device, the imaging device is used for
At least one image of the pattern of the coding is obtained, thus providing view data；And image data processor, the figure
The three-dimensional position of the pattern for calculating the coding based on described image data is designed and configured as data processor.
According to further feature in described preferred embodiment, pattern of at least two coding mutually staggers one
Individual Pixel Dimensions.
According to further feature in described preferred embodiment, the pattern projector is operable to for suitable
The pattern of the coding of sequence ground projection different colours.
According to further feature in described preferred embodiment, the pattern of the coding of different colours mutually staggers ratio
Sign between the pixel center of adjacent projections is apart from few amount.
According to further feature in described preferred embodiment, the acquisition of at least one image is with less than 20
Millisecond time for exposure and be characterized.
According to further feature in described preferred embodiment, the acquisition of at least one image is included in list
Multiple reading during the individual time for exposure.
According to further feature in described preferred embodiment, at least two different colours include the first face
The acquisition of color, the second color and the 3rd color and at least one image includes three readings during the single time for exposure
Go out.
Unless defined otherwise, all technologies and scientific terminology for being used herein have in art of the present invention
The identical meanings that are generally understood of a those of ordinary skill.Although to those similar or equivalent sides described herein
During method and material can be used in practice of the invention and test, suitable method and material are described below.In punching
In the case of prominent, patent specification (including definition) will determine (control).In addition, the material, method and example only show
Meaning property and not be intended to limitation.
The implementation of the method for the present invention and system is related to be performed or complete manually, automatically or in the way of it is combined
Into selected task or step.And, the actual instrument of the preferred embodiment of the method according to the invention and system and
Device, some steps can any firmware or its combination any operating system on by hardware or by software come reality
It is existing.For example, for hardware, selected step of the invention may be implemented as chip or circuit.With regard to software
Speech, selected step of the invention may be implemented as being referred to by multiple softwares that computer is performed using suitable operating system
Order.Under any circumstance, the selected step of the method for the present invention and system can be described as being performed by data processor,
Such as it is used to perform the calculating platform of multiple instruction.
Brief description of the drawings
Only by way of example, the refer to the attached drawing present invention described herein.Now in detail with specific reference to accompanying drawing,
It is emphasised that shown details is citing and is only in order at the purpose for schematically discussing the preferred embodiments of the present invention, with
And be considered as most useful in terms of principle of the invention and concept and the description that is understood by and be presented to provide.
At this point, it is not attempt to than for substantially understanding that essential to the invention to illustrate in greater detail structure of the invention thin
Section, if specification causes how dry form of the invention is carried out for those skilled in the art in practice together with accompanying drawing
Obviously.
In the accompanying drawings：
Fig. 1 a-c are that 3d space represents (Fig. 1 a), thermography (Fig. 1 b) and various one exemplary embodiments of the invention
Synthesis heat space image (Fig. 1 c) formed by the way that thermography is mapped on the surface that 3d space is represented schematic figure
Show；
Fig. 2 is the side for being suitable for calculating the hot path in live body for illustrating various one exemplary embodiments of the invention
The flow chart of method；
Fig. 3 a be wherein gradient be used to define hot path in body process schematic illustration；
Fig. 3 b be for by using two or more hot orbits determine inside Three Dimensional Thermal can distinguishable region position
The schematic illustration of process；
Fig. 4 is the signal of the equipment for calculating the hot path in live body of various one exemplary embodiments of the invention
Property diagram；
Fig. 5 is the Three Dimensional Thermal for being suitable for determining inside in live body for illustrating various one exemplary embodiments of the invention
Can distinguishable region position and the alternatively flow chart of the method for its size；
Fig. 6 a are the schematic illustrations of the process for defining track of various one exemplary embodiments of the invention；
Fig. 6 b-d are the spaces demarcated of some planar obit simulations of use of various one exemplary embodiments of the invention
The schematic illustration in domain；
Fig. 6 e show various one exemplary embodiments of the invention, two tracks along its intersecting line；
Fig. 6 f show multiple points of various one exemplary embodiments of the invention, and the plurality of point is two or a plurality of line
Intersection point；
Fig. 7 is various one exemplary embodiments of the invention for determining that the Three Dimensional Thermal of inside in live body can distinguish area
The schematic illustration of the equipment in domain；
Fig. 8 be various one exemplary embodiments of the invention be suitable for determining live body in multiple heat can distinguish object
Method 80 flow chart；
Fig. 9 a-b be various one exemplary embodiments of the invention with close thermoisopleth be characterized (Fig. 9 a) and with
Open thermoisopleth is characterized the schematic illustration of the dsc data of (Fig. 9 b)；
Figure 10 a-e be illustrate various one exemplary embodiments of the invention for 3d space represent it is interior definition boundary
The schematic illustration of the process of line, it causes single on the surface that the point for belonging to the line of demarcation one side is represented corresponding to 3d space
Hot-zone Fen Dian areas and belong to the point of multiple hot-zones minute on the surface that the point of the line of demarcation another side is represented corresponding to 3d space
Area；
Figure 11 is various one exemplary embodiments of the invention for determining that heat in live body can distinguish the quantity of object
Equipment schematic illustration；
Figure 12 a-f and 13a-e are the schematic of the heat space imaging system of various one exemplary embodiments of the invention
Diagram；
Figure 14 is the schematic figure of the irradiation in the form of a fauna row of various one exemplary embodiments of the invention
Show, wherein at least one of series point area trivial with every other point can separate；
Figure 15 is the side that represents of 3d space for being suitable for building body of various one exemplary embodiments of the invention
The flow chart of method；
Figure 16 a-c are time for exposure and the schematic figure of readout time of various one exemplary embodiments of the invention
Show；
Figure 17 is various one exemplary embodiments of the invention for building the system that the three dimensions of body is represented
Schematic illustration；
Figure 18 a-c are the schematic illustrations of the heat space imaging system of various one exemplary embodiments of the invention；
Figure 19 a-c be show various one exemplary embodiments of the invention internal detection system use it is schematic
Diagram；
Figure 20 is that various one exemplary embodiments of the invention are suitable for assessment to Re Ke areas internal in body
The flow chart of the method for the accuracy of subregional determination；
Figure 21 is that various one exemplary embodiments of the invention are suitable for that to ensure that live body is in generally stable
The flow chart of the method for heat condition；
Figure 22 is the schematic figure of the medical treatment device in the pluggable live body of various one exemplary embodiments of the invention
Show；
Figure 23 a-b are the irradiation units for being suitable for heat space imaging of various one exemplary embodiments of the invention
Schematic illustration；
Figure 24 is another side that the 3d space for being suitable for structure body according to a preferred embodiment of the invention is represented
The flow chart of method；
Figure 25 is according to a preferred embodiment of the invention for building another system that the 3d space of body is represented
Schematic illustration；And
Figure 26 a-d are the schematic illustrations of the pattern for mutually staggering of various one exemplary embodiments of the invention.
Specific embodiment
The present invention includes the method, equipment that can be used in terms of imaging and system.Especially, but not exclusively, originally
Implementation method can be used to determine internal heat in live body can distinguishable region position.
Refer to the attached drawing and the specification enclosed are better understood with the original of method, equipment and system according to the present embodiment
Reason and operation.
Before explaining at least one embodiment of the invention in detail, it should be appreciated that the present invention is not limited under
It is applicable in the details of structure illustrated in the explanation in face or shown in the accompanying drawings and the arrangement of part.The present invention
Can be used in other embodiments or can be practiced or carried out in a variety of ways.Also, it is to be understood that herein
Employed in wording and term be in order at descriptive purpose and should not be considered as limiting.
The present invention has been devised by allowing according to hot path or track detecting and positioning tissue regions (example of concern
Such as, the symptom of such as tumour) mode, wherein hot path or track lead to from this tissue regions and be covered in the tissue regions
Surface.
The some modes for this track or path computing are contemplated herein.A kind of such mode is using heat
Datagram, the dsc data figure includes the dsc data being associated with the surface of at least a portion body.One or more heat can be distinguished
Region is identified in dsc data figure.In various one exemplary embodiments of the invention, (one or more) heat can distinguishable region
Thus with regard to the position on surface distributed (such as the pattern of thermal region), surface, heat density, size, relative to other Re Ke areas
(as far as) is characterized for subregional position.These representational features are preferably used to calculate the heat in body
Path.
Thus, the preferred embodiment of the invention relates in general to the analysis to surface information, is such as extracted in following
The characteristic of tissue.In various one exemplary embodiments of the invention, surface information includes spatial information and thermal information.
Geometrical property of the spatial information comprising the nonplanar surface at least partially around three-D volumes.In general,
Nonplanar surface is built-in the two-dimensional object in three dimensions.In theory, nonplanar surface is by smoothing junction and tight
The derived metric space of Riemann's two-dimensional manifold institute of cause.It is desirable that the geometrical property on nonplanar surface will be provided clearly,
The slope and curvature (or even other space derivations or its combination) of such as each point on nonplanar surface.However,
This information rarely can obtain and spatial information is provided for the sampled form on nonplanar surface, and it is multitude
The set of point on graceful two-dimensional manifold and it is sufficiently used for describing the topological structure of two-dimensional manifold.Typically, nonplanar surface
Spatial information be reduced form that 3d space is represented, it can be that a cloud or the reconstruct of the 3D based on a cloud are (such as polygon
Shape grid or shaped form grid).3d space is showed by means of 3D coordinate systems to represent, such as, but not limited to Descartes, ball
Shape, elliposoidal, 3D parabolas or paraboloidal coordinates 3D systems.
Term " surface " is used herein as the abbreviation on term " nonplanar surface ".
Thermal information is included on being discharged or by the hot data of Surface absorption from surface.Because the different piece on surface is led to
Often discharge or absorb different amounts of heat, set of the thermal information comprising tuple (tuple), each tuple includes the region on surface
Or the coordinate put and the calorific value (such as temperature, heat energy) being associated with point or the region.Thermal information can be converted into
Optical signal, thermal information is in the form of thermography in this case.Term " thermography " and thermal information can through specification quilt
It is used interchangeably and limits the scope of the present invention never in any form.Especially, unless otherwise defined, term " thermography " makes
With being not construed as being limited to thermal information to the conversion of optical signal.For example, can be by computer-readable medium
In the memory of composition by thermography be stored as described above, the set of tuple.
The surface information (thermal information and spatial information) of body typically with synthesize 3D rendering in the form of, the 3D of the synthesis
Be included on identical 3D rendering for both dsc data and spatial data by image.This image is referred to as heat space image.
The 3-D view of body typically two dimensional image is will be understood by, it is except indicating extending laterally for body component
Outward, the relative or absolute distance of body component or its part and certain reference point, the position of such as imaging device are also indicated.
Thus, 3-D view typically comprises the information on the nonplanar surface for belonging to three dimensional body (body) and is not necessarily in block
In (in the bulk).However, it is commonly accepted that this image is referred to as " three-dimensional ", because nonplanar surface is convenient
Be defined within three-dimensional coordinate system on.Thus, through this specification and in following claims part, term
" 3-D view " and " three dimensional representation " is mainly relevant with surface entity.
Heat space image definition is represented and in the 3d space of body with being associated simultaneously with the surface that 3d space is represented
And the dsc data with multiple picture element unit cells (for example, pixel, arrangement of pixel) gridding ground arrangement on the surface, each picture list
Unit is represented by the density value or gray level on grid.The quantity that will be understood by different densities value can be differently configured from gray level
Quantity.For example, 8 displays can generate 256 different gray levels.However, in principle, corresponding to thermal information
The quantity of different densities value can be with much bigger.As representational example, it is assumed that thermal information crosses over 37 DEG C of scope and with 0.1
DEG C resolution digital.In this case, there is the poor accuracy for using of 370 different density values and gray level big
About 0.4 times.Thus, in various exemplary embodiments of the invention, performed rather than gray level by using density value
The treatment of dsc data.Even so, the use of gray level is not excluded from the scope of the present invention.
Term " pixel " herein is simplified and is used to refer to picture element unit cell sometimes.However, this is not intended to limitation " figure
The implication of blade unit ", its unit for referring to image composition.
Typically, one or more thermographies are mapped to surface that 3d space represents to form heat space image.Will quilt
The thermography being mapped on the surface that 3d space is represented is preferably included in and represents institute's table in identical coordinate system with 3d space
Existing dsc data.Any kind of dsc data can be used.In one embodiment, dsc data includes kelvin rating,
In another embodiment, dsc data includes relative temperature value, corresponding point and certain reference on each of which correspondence such as surface
Temperature difference between point, in another embodiment, dsc data includes local temperature difference.Equally it is envisaged that said temperature
The combination of data type, such as dsc data can be comprising both absolute and relative temperature values, and class likelihood data.
Typically, the information in thermography is additionally included in the heat condition (such as temperature) at reference signs.
The mapping on surface that thermography is represented to 3d space is for example (for example to be passed through by accurately placing reference signs
Their coordinate compares during their coordinate in thermography is represented with 3d space), so as to also match other points, thus form conjunction
Into spatial image.
Alternatively and preferably, the mapping of thermography uses thermal emissivity with trimming process in the makeover process
Factor.
The thermal emissivity of body component is nondimensional amount, is defined as the heat radiation of surface emitting from body component
Amount and the ratio between there is such as amount of the heat radiation of the black body emission of body component identical temperature.Thus, preferable black matrix
Thermal emissivity be 1, and the thermal emissivity of every other body is between zero and one.Generally it is assumed that the thermal emissivity of body is big
It is equal with its heat absorption factor on body.
Trimming process can be performed by using the thermal characteristics of the estimation of body.Especially, thermography is by body table
In the case that the difference of the emissivity in the region on face is taken into account, it is mapped on nonplanar surface of description body.Tool
There are region, the breast of chest that can be for example frightened region with the region of emissivity value different around it, colour
Head region, mole.In addition, the emissivity value of the object with the different colours of skin may be different.
In a preferred embodiment, thermography is weighted according to the different emissivity value on surface.For example, when by
When the information that thermal imaging device is obtained includes temperature or energy value, at least a portion temperature or energy value can be divided by bodies
The emissivity value of the respective regions on surface.One of ordinary skill in the art will be understood that such process produces effectively temperature
Degree or energy value, the value are higher than the value obtained by thermal imaging device.Because different regions may be with different emissivity values
It is characterized, the thermography of weighting provides the hot more preferable estimation on launching from body surface.
The representational example of the synthesis heat space image in the case of for chest of the body comprising women is in Fig. 1 a-c
In show, represent (Fig. 1 a) which show the 3d space being illustrated as nonplanar surface, shown as the thermoisopleth of plane
The thermography (Fig. 1 b) that goes out and it is mapped to the synthesis heat space figure formed on the surface that 3d space is represented by by thermography
As (, Fig. 1 c).As shown, the dsc data of heat space image is represented as the gray-scale value on grid, big at 102
Generally show.It should be understood that the expression according to gray-scale value is in order at the purpose of signal and should not be considered as limiting.Such as
As hereinbefore explaining, the treatment of dsc data can also be performed by using density value.Equally show in Fig. 1 a-c
What is gone out is used to the reference signs 101 of mapping.
3d space can be obtained with any technology well known in the prior art and represent, thermography and synthesis heat space figure
Picture, such as in international patent application No.WO 2006/003658, U.S. Published Application No.20010046316 and U. S. application
No.6,442,419、No.6,765,607、No.6,965,690、No.6,701,081、No.6,801,257、No.6,201,
541st, No.6,167,151, No.6,167,151 and No.6,094,198.Present embodiment is also provided for obtaining surface information
Or the other technologies of its part, will be described in further detail below.
The preferred embodiments of the present invention can be implemented on tangible medium, such as performing the calculating of method and step
Machine.The preferred embodiments of the present invention can be implemented on a computer-readable medium, comprising the computer for Method Of Accomplishment step
Readable instruction.The preferred embodiments of the present invention can also be implemented on the electronic installation with digital computer capabilities, the electronics
Device is disposed on tangible medium operation or on a computer-readable medium execute instruction.Realize the present embodiment
The computer program of method and step can generally be assigned to the user on tangible distribution medium.From the distribution medium, calculate
Machine program can be copied to hard disk or similar intermediate storage medium.Can be by by computer instruction from their distribution
During medium or their intermediate storage medium download to the execution memory of computer, configuration computer make it according to the present invention
Method action run computer program.All these operations are well known to the technical staff of field of computer.
The present embodiment is useful in many medical treatment and other application.
For example, the present embodiment may be used to determine whether tumour or the presence of inflammation, the position and optional of inside
Ground is its size, so as to help the diagnosis for example to cancer.
The present embodiment is also useful for building vessel graph or for specific blood vessel in determination body, because blood vessel
Temperature generally from tissue temperature it is different.For this respect, the present embodiment is also useful in face recognition field, because
Know that vessel position on the face can aid in pair individual mark for determining.Also contemplate the identification to other organs.Due to
The present embodiment positioning body in heat can distinguishable region ability, the use of the organ identification of the present embodiment is especially advantageous.This
The positioning of sample can be used to build vessel graph, and the vessel graph provides orientation and depth the both sides letter about body medium vessels
Breath.The figure can thus be used for mark individuality, for example, searched by blood vessel chart database that is obtainable and can search for
Scheme as rope phase.
The present embodiment is also useful for bone imaging, because the temperature of bone is typically different than the temperature of soft tissue.
This is particularly useful at medical treatment conduction (medical conduction) aspect, such as scoliosis and other deformities of spine, its
In desirably regularly monitor skeletal shape.It is this and other in the case of, the present embodiment is provided to dangerous X-ray
The secure replacement of imaging.
Bone imaging can also be used to assess the possibility of osteoporosis.Especially, due to generally in healthy bone
Front portion in have more heat than in its surface, the possibility of bone mineral density reduction can be by monitoring bone surface
Temperature evolution identify.For example, heat space image sequence can be between certain according to a preferred embodiment of the invention
Whether it is obtained and is analyzed every (such as one month once or similarly), determines the temperature of bone surface with the time one
Ground is caused to increase.The analysis can be used to assess the possibility that bone mineral density reduces, wherein more significant temperature increases
Speed corresponds to possibility higher.
With reference now to accompanying drawing, Fig. 2 is the flow chart of the method 10 of the hot path that description is suitable in calculating live body.Should
Understand, unless otherwise defined, can simultaneously or in sequence perform hereinafter institute with many execution combinations or order
The method and step of description.Especially, the sequence of flow chart should not be considered as limiting.For example, appeared in particular order
Two or more method and steps in following explanation or in flow chart can in a different order (such as opposite order)
Or be generally performed simultaneously.In addition, some method and steps described below are optional and can be not carried out.
Method 10 may be used to determine whether that heat can distinguish object in the presence of path thereon in body.Heat can distinguish pair as if
Object with the high or low temperature of the temperature than their immediately arounds, and can be such as inflammation, benign tumour, evil
Property tumour or the like.
The method starts at step 12 and then arrives step 14, and the synthesis heat space figure of live body is obtained at step 14
Picture.As indicated like that, synthesis heat space image be defined within body 3d space represent and with the 3d space
Represent associated dsc data.Heat space image can be generated by method 10 or it by another method or can be
Unite to generate, the image from another method or system can be read by method 10.
The method then arrives step 16, in this step one or more heat can diacritical point area marked in heat space figure
Know." heat can diacritical point area " refers to the region on the surface that 3d space is represented, for the region, dsc data associated there is different
In the dsc data that the immediately around with the region is associated.For example, heat can diacritical point area can be that temperature reaches at which
To local highest or local minimum region.Generally shown at 201 heat can diacritical point area as an example diagram (see
Fig. 1 c).Heat can diacritical point area size typically specific heat spatial image much smaller size.
The method then arrives step 18, if be in this step at least it is xeothermic can diacritical point area calculate terraced to the space on surface
Degree.The calculating of spatial gradient is in the prior art known, and calculates the method for gradient and can be looked in many textbooks
Arrive.For example, when 3d space is represented with the form of polygonal mesh when, spatial gradient can be through the area and vertical
Point to corresponding polygonal vector in ground.Represented for a cloud or other kinds of 3D, can by the first space derivation or
Person finds gradient by tangent plane.Once gradient is calculated, it is preferably used to define together with the position in an area can
It can be the straight line of the hot path in body.For example, when live body includes the object of heat, such as method 10 is used for determining all
When heat such as inflammation or tumour can distinguish object presence path thereon, the straight line can be defined as heat along it in body
The path of middle propagation.
The process shows in fig. 3 a, represents that the heat on 206 surface 205 can diacritical point area the figure illustrates 3d space
201.Gradient 202 points to 3d space and represents that internal and path 203 is defined as parallel to gradient 202 and crossing point area 201
Straight line.Same shown be internal Three Dimensional Thermal in live body can distinguishable region position, it is by representing the inner area in 206
Domain 204 represents.As shown, path 203 is also through region 204.Once being found, the path is preferably shown
Or record is on tangible medium, such as display device, hard copy, storage medium.
In various one exemplary embodiments of the invention, the method then arrives step 22, two or more in this step
Hot orbit be used for determining internal Three Dimensional Thermal in live body can distinguishable region position.This process shows in fig 3b, the figure
Also show the 2nd 203 ', corresponding to the gradient 202 ' of second point area 201 ' and second.The position in region 204 can be by calculating two
Intersecting between individual track is obtained, or when track is non-intersect, according to the region between the immediate point of track.Once
Be found, internal Three Dimensional Thermal can distinguishable region be preferably shown or record on tangible medium.Preferably, the method
Then step 24 is arrived, source region 208 is positioned in region 204 in this step.Source region corresponds to heat in body can be distinguished
The position of object (such as inflammation, tumour) and can be positioned by mathematical method well known in the prior art, included without
It is limited to center of gravity, the center of gravity of weighting and the barycenter in region 204.
According to a preferred embodiment of the invention, the method returns to step 14, heat space image other in this step
It is obtained, the other heat space image corresponds to the different attitudes of live body.For example, when chest of the live body for women,
First heat space image can describe women to anteflexion body or with face down attitude prostrate when chest.Preferably, but not
It is forcibly that heat space image in addition is obtained so that two or more heat space images are predefined relative on body
Permanent datum can be aligned.For example, reference point can be the mark on armpit.(one or more) heat can diacritical point area
Mark and the calculating of (one or more) gradient be preferably the other heat space image and repetition, to determine at body
Three Dimensional Thermal inside when the second attitude can distinguishable region position.The position that is determined in different attitudes thus can be by
Compare with the accuracy of evaluation process.The report of the accuracy about being assessed can thus be published, for example, issue in display
On device, hard copy or the like.
Alternatively, the position can be averaged and inside Three Dimensional Thermal can the mean place of distinguishable region can be shown
Or record is on tangible medium.
Method 10 terminates at step 26.
Fig. 4 is showing for the equipment 40 for calculating the hot path in live body of various one exemplary embodiments of the invention
Meaning property diagram.Equipment 40 can be used to carry out one or more method and steps of method 10.
Equipment 40 synthesizes the input block 42 of heat space image comprising receiving, mark (one or more) heat can diacritical point area
Point area mark unit 44 and the gradient calculator 46 for calculating spatial gradient, such as be hereinbefore described in further detail that
Sample.The alternatively and preferably inclusion region determining unit 48 of equipment 40, it is designed and configured the three-dimensional for determining inside
Heat can distinguishable region, as being hereinbefore described in further detail.Equipment 40 can also include source region locator 48, its positioning
Source region, as described in further detail above like that.
With reference now to Fig. 5, its be according to various one exemplary embodiments of the invention be suitable for determine it is internal in live body
Three Dimensional Thermal can distinguishable region position and be optionally its size method 50 flow chart.
The method starts at step 52 and then arrives step 54, obtains synthesizing heat space image in step 54.Heat
Spatial image can be generated by method 50 or it can be generated by another method or system, from this another
The image of method or system can be read by method 50.
The method then arrives step 56, and surface is searched in this step, or more specifically search grid 102 is found by big
One or more set for the picture element unit cell that similar density value is represented on body.In theory, search grid is found has from I-
The picture element unit cell set of the density value of Δ I to I+ Δs I, wherein I be characterize the set predetermined density and Δ I for width
Degree (width) parameter.The value of Δ I be preferably selected to it is small as far as possible, but it is still fully big allowing to be received in set
Collect sufficient amount of picture element unit cell (for example more than 10 picture element unit cells).For example, when the density in each picture element unit cell
Value is the number from 0-255, then Δ I can be about 10 density units.
As used in this article, term " about " refers to ± 20%.
When more than one picture element unit cell set is defined, I is characterized at different densities for each set, but two
Set can have or can not have equal width parameter.
Search for the process that the picture element unit cell set represented by generally similar density value can also be by being averaged and carry out reality
It is existing.For example, search can be diacritical point area or region since positioning heat on the surface.In the point area being positioned or region
In pixel or the density value of picture element unit cell be then averaged or weighted average is to provide average density value.The method can be with
Then search has other regions or point area of same or analogous average density value.If do not match be found, the method
Alternatively and preferably by using heat can be in distinguishable region picture element unit cell and come in the picture element unit cell around the region
Average density value is recalculated, so as to expand the region.The method then can search for other by using new average value
Region.The process can be by optionally repeated several times.Thus, in this embodiment, set is characterized with average density value.
The method then arrives step 58, in this step for one or more picture element unit cell set define multiple tracks.Should
Each in multiple tracks is associated with least one pair of picture element unit cell in set and is defined such that each on track
The equal hot distance of single picture element unit cell of the point away from the centering.The process shows that Fig. 6 a are to show cutting for surface 205 in Fig. 6 a
Face and the picture element unit cell with generally similar density value (thus belonging to identity set) are not exclusively regarded to 601 and 602
Figure.The track 603 being made up of point is associated with point 601 and 602.It is defined on the point 604 and point the distance between 601 of track 603
d1Equal to the distance between 602 d of identical point 604 and point for being defined on track 6032.In general, being based on the heat of thermal conductivity
Rather than determining apart from d for geometric distance for distance1And d2.Even so, in certain embodiments, body can be with
Thermal characteristics isotropic medium is modeled as, the definition of hot distance and the definition of geometric distance are consistent in this case.
Track 603 can be plane or nonplanar with any shape.Will be understood by when apart from d1And d2
When being geometric distance, track 603 is plane.In principle, each pair point can be associated from different tracks.Thus, when set is wrapped
Include during more than a pair, multiple tracks are defined.Once track is defined, the method then arrives step 60, in this step rail
The Three Dimensional Thermal that mark is used to define inside can distinguishable region.This can be carried out in more than one way.In one embodiment
In, interior zone is completely or partially defined by the track.In other words, track is used to define the external table in region
Face.This embodiment shows in Fig. 6 b-d, which show by with reference number 603,603 ', 603 " indicate with multiple planes
The example of the 3D region 204 that track is demarcated.
In another embodiment, intersecting lens based on two or more track determines interior zone.The embodiment
Shown in Fig. 6 e-f, Fig. 6 e-f show two tracks 603 and 603 ' along its intersecting line 605 (Fig. 6 e) and multiple points
606, it is the intersection point (Fig. 6 f) of two or a plurality of line 605.Point 606 thus can be used to define region 204, for example pass through
Regard point 606 as cloud or be reconstructed into polygon or shaped form grid by by region 204.
When the method finds more than one picture element unit cell set at step 56, the track quilt at least some set
It is exploited separately for the definition interior zone associated with corresponding set.Final interior zone can then be defined, for example
It is averaged by region.Can by will with relative weighting of the density that be associated of set as respective regions and by average value
Weighting.Alternatively, final region can be defined as the intersection in all regions.Also alternatively, final region can be by
It is defined as the common factor in two or more regions.
According to a preferred embodiment of the invention, the method return to step 54, obtains one or more in addition in this step
Heat space image.The other heat space image corresponds to the different attitudes of live body.Preferably, but be not forcibly, separately
Outer heat space image is obtained and causes two or more heat space images relative to the predetermined fixed ginseng on the body
Examination point is aligned.Search (one or more) picture element unit cell set and definition track are preferably recycled and reused for other heat space
Image, with determine when body be in the second attitude when inside Three Dimensional Thermal can distinguishable region position.It is true with different attitudes
Fixed position can then be compared to assess the accuracy of the process.Accuracy report about being evaluated can then be sent out
Cloth, such as in limits device, hard copy or the like.
Alternatively, the position can be averaged and inside Three Dimensional Thermal can the mean place of distinguishable region can be shown
Or record is on tangible medium.
Once being found, region 204 is preferably shown or records on tangible medium.Preferably, the method connects
Step 62, source region 208 is positioned in body in this step.The source region corresponds to heat in body can distinguish object
The position of (such as inflammation, tumour) and can be positioned by mathematical method well known in the prior art, including but not limited to
The center of gravity in region 204, the center of gravity for weighting and barycenter.
Method 50 terminates at step 64.
It is followed by wherein apart from d1And d2It is geometric distance and each track is for defining in the embodiment of plane
Track and determined based on track interior zone algorithm representational example.
The set of all pixels with the similar density value from I- Δ I to I+ Δs I is represented as s.Sat in Descartes
In mark system, two pixels in s are respectively expressed as p1=[x1 y1 z1]TAnd p2=[x2 y2 z2]T.These pixels
Euclideam norm is respectively expressed as | | p1||2With | | p2||2.By with p1And p2Equidistant track for constituting a little is vertical
Directly in vectorial p1-p2=[x1-x2 y1-y2 z1-z2]TPlane.The equation of such plane is：
(equation 2)
It can also be written to：
2(x1-x2)x+2(y1-y2)y+2(z1-z2) z=| | p1||2-||p2||2(equation 1)
The equation of all this planes is connected to provide Linear least squares minimization problem by algorithm：
(equation 3)
Wherein A and b are to p for any pixeli, pj∈ s include the (p of institute's directed quantity 2 respectivelyi-pj) and all standard deviations
||pi||2-||pj||2Array.The solution of the Linear least squares minimization problem is：
(ATA)-1ATB. (equation 4)
The algorithm is described by following false code：
1. unique gray-scale value is found in the plane.
2. A and b are initialized as sky array.
3. for each gray level：
A () finds all pixels pair of total identical density value (from I- Δ I to I+ Δ I).Each to defining a plane,
It is made up of a little the equal distance of two pixels away from this pair.
Build the equation (equation 1 or 2) of plane.
B () discarding is too close to each other all right.
C () is by 2. (p of vector1-p2) it is connected to array A.
D () is by scalar | | p1||2-||p2||2It is connected to array b.
4. linear least-squares equation Ax ≈ b, equation 4 are solved
5. terminate
The complexity of problem is O (n2), wherein n is the size of s, both for selecting all of s to be corresponded to being also used for solution
Minimal linear two multiply problem.For example, for the parabola being made up of the pixel of 41x41, the position in source with (0.006,
0.006,0.009) accuracy and the calculating time of 0.03 second is determined on IBM ThinkPad R50e, IBM
ThinkPad R50e equipped withThe RAM of M 1.70GHz processors and 599 MHz 504Mb.
Fig. 7 is various one exemplary embodiments of the invention for determining that the Three Dimensional Thermal of inside in live body can distinguish area
The schematic illustration of the equipment 70 in domain.Equipment 70 can be used to carry out one or more method and steps of method 50.
Equipment 70 is searched for by generally similar comprising the input block 42 for receiving synthesis heat space image, on grid
The picture element unit cell that represents of density value one or more set search units 72, define the track definition unit 74 of track with
And for based on track determine the Three Dimensional Thermal of interior zone 204 can distinguishable region area determination unit 76, such as hereinbefore enter one
As step is described in detail.Equipment 70 can also be included such as the source region locator 48 being hereinbefore described in further detail.
With reference now to Fig. 8, its be according to various one exemplary embodiments of the invention be suitable for determine it is many in live body
Individual heat can distinguish the flow chart of the method 80 of object.
The method starts at step 82 and then arrives step 84, obtains synthesizing heat space image in step 84.Heat
Spatial image can be generated by method 80 or it can be generated by another method or system, from this another
The image of method or system can be read by method 80.Will be understood by when dsc data is converted into visual picture, image leads to
It is often in isothermal form.Inventionbroadly, thermoisopleth can be closure or they can be open.For example,
When dsc data include temperature levels when, closure it is isothermal exist typically indicate that temperature the thermoisopleth around region
In there are one or more local extremums, and open isothermal there is the isopleth that typicallys indicate that temperature in the opening
It is dull (including situation of saddle point) in region.For example, when thermal source is not in the visual field of imaging device, thermoisopleth
Typically open.
The representational example of the dsc data being characterized with the thermoisopleth for closing and open thermoisopleth is respectively in Fig. 9 a-b
In be provided.As shown, in fig. 9 a, the thermoisopleth of closure around at least one heat can diacritical point area 901, while
In figure 9b without such point area, thermoisopleth is open in figure 9b.
In various embodiments of the present invention, isothermal of the dsc data of the heat space image for obtaining in step 84 to close
Line is characterized, and the thermoisopleth of the closure at least wants the heat can diacritical point area on the surface that 3d space is represented.
The method then arrives step 86, and one or more internal Three Dimensional Thermals can distinguish area during live body is determined in this step
The position in domain and alternatively its size.This can be carried out by using method 10, method 50 or any other method.Also
Contemplate the combination (such as method 10 and 50) between method.Alternatively and preferably, the method is also determined as retouched above
One or more source regions stated.
Method 80 then arrives step 88, in this step 3d space represent it is analyzed with definition space represent in boundary
Line.The line of demarcation is defined such that the point for belonging to line of demarcation one side corresponds to the single hot-zone Fen Dian areas on surface, and belongs to
The point of line of demarcation another side corresponds to the multiple hot-zone Fen Dian areas on surface.
Step 88 may be better understood with reference to Figure 10 a-d and following explanation.
Figure 10 a are the heat space images of the dsc data on the surface 205 for represent 206 with 3d space.Have on surface 205
Two hot-zones Fen Dian areas 901 and 902, each point area with the thermoisopleth that is closed around and can identify.Figure 10 b are schematically
Show that 3d space represents 206 sectional view, corresponding to the heat space image of Figure 10 a.Shown is surface 205 in figure 10b
The heat of Shang Dian areas 901 and 902 and the inside in block can distinguish source point 903.
From the point of view of distance function D according to the hot distance between each point on description source point 903 and surface 205, area 901 is put
With 902 local minimums comprising D.That is, the heat distance between source point 903 and point area 901 is less than source point 903 and surface
205 tighten any hot distance between the point near adjoint point area 901；And the hot distance between source point 903 and point area 902 is less than
Source point 903 and surface 205 tighten any hot distance between the point near adjoint point area 902.Correspondence is also illustrated that in figure 10b
In the surface point 904 of global maximum.
Shown a case that in Figure 10 c-d different.Figure 10 c are that have single hot-zone Fen Dian areas 905 on surface 205
Heat space image (having the thermoisopleth of closure).Figure 10 d are the schematic illustrations of the sectional view on surface 205, and it corresponds to Figure 10 c
Heat space image.The source point 903 in an area 905 and in block is illustrated that in figure 10b.From the point of view of distance function D, point
Area 905 is the local minimum of D.However, different from situation about above being presented in Figure 10 a-b, in Figure 10 c-d only
One local minimum.
In principle, for the surface 205 for giving, the quantity of the local minimum of distance function D depends on the source point in block
903 position.In various one exemplary embodiments of the invention, the method analyzes surface 205 and in D for its (for
Which) have single minimum value, source point 903 all possible position and D have for it more than one minimum value,
Line of demarcation is defined between all possible position of source point 903.The representational example in this line of demarcation shows in figure 10e,
Figure 10 e show and for block to be divided into two lines of demarcation 906 of part 907 and 908, wherein following part 907 includes that D has for it
There is two minimum values, source point 903 all possible position and part above 908 has single minimum for it including D
Value, source point 903 all possible position.Line of demarcation 906 can be in the form of a cloud or approximately to put cloud reconstruct table
The form in face is provided.The surface that point cloud is shown as asterisk and reconstructs in figure 10e is shown as solid line.
Once line of demarcation 906 is found, method 80 then arrives step 90, wherein find in step 86 (one more
It is individual) interior zone and/or (one or more) source region be by compared with line of demarcation 906.Especially, the method determination, for
Each interior zone, its which side for belonging to line of demarcation.It is this to compare during permission method 80 determines live body that heat distinguishable region
Quantity, as will be understood according to the example of following simplification.
Thus, it is assumed that the heat space image for obtaining in step 84 can diacritical point area (comparing Figure 10 a) including two heat.Enter
One step assumes that the method represents the inside source region being positioned in part 908 in step 86.Due to it is expected that working as source region
When domain is positioned in part 908 on surface 205 only one of which hot-zone Fen Dian areas, the method can be determined on surface 205
Two hot-zones Fen Dian areas correspond to block in two different heat can distinguish object.On the other hand, if in step 84
The heat space image for obtaining includes single hot-zone Fen Dian areas (comparing Figure 10 c), and the method mark location is in part 908
Inside source region, the method can determine that identified inside source region corresponds to the object of the single hot-zone point in block and do not have
There are other this objects.This relatively can be used for the accuracy of estimating step 86.As an example it is assumed that obtaining in step 84
Heat space image include hot-zone Fen Dian areas (comparing Figure 10 c), and in step 86 the method mark location in portion
The inside source region divided in 907.Due to it is expected that will have on surface 205 when source region is positioned in part 907
Two hot-zones Fen Dian areas, the method can determine that the accuracy of process performed in step 86 is inadequate and issues report
Or it is just this inaccurate to operator's signalling.Alternative or additionally, the method with return to step 86 and can pass through
But using another process or by using identical process (for example more sampled points are used for increased accuracy
3d space represents 206 reconstruct) determine position and/or the size of source region.
Method 80 terminates at step 92.
Figure 11 is various one exemplary embodiments of the invention for determining the equipment that multiple heat can distinguish object
110.Equipment 110 can be used to carry out one or more method and steps of method 80.
Equipment 110 includes the input block 42 and area determination unit 112 for receiving synthesis heat space image, and its is true
Fixed internal 3D heat distinguishable region and can alternatively determine the source region of inside.Unit 112 can include the selected of equipment 40
The part (such as unit 44, calculator 46, unit 46, locator 48) and/or the selected part of equipment 70 selected are (such as single
Unit 72, unit 74, unit 76) and method 10, method 50 or its selected step for combining can be performed.Equipment 110
(one or more) interior zone can be received with slave unit 40 or 70.
Equipment 110 also includes analyzer 114, and its analysis 3d space is represented and is as defined above the line of demarcation described by text
906, and comparing unit 116, its by internal 3D heat can distinguishable region compare to determine live body Zhong Reke areas with line of demarcation 906
Divide the quantity of object, as being hereinbefore described in further detail.
Following explanation is the skill for obtaining heat space image on various one exemplary embodiments of the invention
Art.The technology being described below can be used by any of the above described method and apparatus.
Can be represented by obtaining one or more thermographies and (one or more) thermography being mapped in into 3d space
Above generally obtain heat space image.
With reference now to Figure 12 a, it is the schematic figure of the heat space imaging system 120 according to the preferred embodiments of the present invention
Show.As figure 12 a shows, the live body 210 of people 212 or its part are placed in before imaging device 214.People 212 can be station
, be seated or with any other the suitable attitude relative to imaging device 214.People 212 by positioner 215 relative to
Imaging device 214 is initially placed or was placed later, the positioner 215 typically comprise by engine strength or
By the platform that other suitable strength are moved on guide rail.In addition, heat can distinguish object 216, such as tumour may reside in people
In 212 body 210.For example, when body 210 includes chest, object 216 can be breast tumor, and such as cancer swells
Knurl.
According to a preferred embodiment of the invention, people 212 can wear coat 218, such as shirt.Preferably, 218 pairs, coat
Can be that not transparent or part is transparent in such as 400-700 nanometers of visible wavelength, and for such as infrared
Line etc., the wavelength more long than visible wavelength can be transparent.In addition, reference mark 220 can be placed close at people 212,
Preferably be placed directly within the body of people 212 and with body 210 close to.Alternatively and preferably, reference mark 220 is straight
It is attached on body 210.Reference mark 220 can typically include material piece, the mark that is drawn on people 212 or any other
Suitable mark, as described by herein below.
Imaging device 214 typically comprises at least one visual light imaging device 222, and it can at least sense visible wavelength
And at least one thermal imaging device 224, it is to the infrared ray typically in such as 3-5 microns and/or 8-12 microns of scope
Wavelength sensitive.Typically, imaging device 222 and 224 can sense hereinbefore described reference mark 220.
Alternatively, polarizer 225 can be placed in before visual light imaging device 222.As other alternative, can be with
Stopping the color filter 226 of at least part of visible wavelength can be placed in before visual light imaging device 222.
Typically, at least one visual light imaging device 222 can comprising black and white or photochrome imaging device or
The digital imaging apparatus of such as CCD or CMOS.In addition, at least one visual light imaging device 222 can be comprising multiple into pixel
Part, wherein each can be three-dimensional imaging element.
Alternatively and preferably, imaging device 214 can be reapposed relative to people 212 by positioner 227.
Used as other alternative, each imaging device 222 and 224 can also be by least one positioner 228 by relative to people 212
Reappose.Positioner 227 can include engine, lever or any other suitable power, and can also be comprising being used for
The guide rail of mobile imaging device 214 thereon.Preferably, relocation device 228 can be similarly configured.
The data obtained by visual light imaging device 222 and thermal imaging device 224 are output to number through communication network 232
According to processor 230, and it is analyzed and processed typically via the algorithm run on data processor.The number for finally giving
According to that can be displayed at least one display device 234, it is preferably connected to data processor 230 through communication network 236.
Data processor 230 typically comprises PC, PDA or any other suitable data processor.The allusion quotation of communication network 232 and 236
Physical communication network of the type ground comprising such as internet or Intranet, or can alternatively include wireless network, such as honeybee
Nest network, infrared communication network, radio frequency (RF) communication network, bluetooth (BT) communication network or any other suitable communication
Network.
According to a preferred embodiment of the invention, display 234 typically comprises screen, such as lcd screen, CRT screen or
Person's plasma screen.Used as other alternative, display 234 can include at least one visual device, and it includes two LCD
Or two CRT, it is placed in before the eyes of user and is assembled with the structure similar to glasses.Preferably, display 234
Display pointer 238, it is typically removable along X, Y and Z axis of shown model and can be used to point to shown
Diverse location or unit in data.
With reference now to Figure 12 b-f and 12a-e, the heat space that it shows various one exemplary embodiments of the invention into
As the various operating principles of system 120.
Visual light imaging is illustrated first with reference to Figure 12 b-f, and thermal imaging is explained below with reference to Figure 13 a-e.It will be understood that
Be visible images data acquisition described by Figure 12 b-f can before the thermography data acquisition described by Figure 13 a-e,
It is performed afterwards or simultaneously.
Reference picture 12b-f, on the positioner 215 that the people 212 comprising body 210 is positioned in before imaging device 214,
In the first position 240 relative to imaging device.With visual light imaging device 222, alternately through polarizer 225 or work
The first view data of body 210 is obtained by color filter 226 for alternative selection.Use the advantage of color filter
It is that it can improve signal to noise ratio, such as when people is irradiated with the pattern or mark of particular color, color filter can
Be used to only transmit the particular color so as to reduce background registration.In addition, at least two view data of body 210 are by can
See that photoimaging equipment 222 is acquired so that body 210 is at least placed in the second place relative to imaging device 214.Cause
And, first, second and alternatively more multilevel image data from the imaging device viewpoint point different relative at least two of body 210
It is acquired.
Can as in Figure 12 b it can be seen that as people 212 is reapposed by using positioner 215, such as in Figure 12 c
In it can be seen that as using positioner 227 reappose imaging device 214 or make as can be seen in Figure 12 d
Imaging device 222 is reapposed with positioner 228 to configure the second relative position 242.As other alternative, can pass through
Using two independent imaging devices 214 as be can be seen in Figure 12 e or two as be can be seen in Figure 12 f
Individual independent visual light imaging device configures the second relative position 242.
Reference picture 13a-e, on the positioner 215 that the people 212 comprising body 210 is positioned in before imaging device 214,
In the first position 244 relative to imaging device.First thermal imagery diagram data of body 210 is obtained by thermal imaging device 224
Take.Alternatively and preferably, at least two thermal imagery diagram datas of body 210 are acquired by thermal imaging device 224 so that body
Body 210 is at least placed in the second place 242 relative to imaging device 214.Thus, first, second and alternatively more heat
Image pattern data is acquired from the thermal imaging device viewpoint different relative at least two of body 210.
Can as in Figure 13 a it can be seen that as people 212 is reapposed by using positioner 215, such as in Figure 13 b
In it can be seen that as by using positioner 227 reappose imaging device 214 or such as in Figure 13 c can be seen that
Sample reapposes thermal imaging device 224 to configure the second relative position 246 by using positioner 238.As other standby
Choosing, can be by using two independent imaging devices 214 as can be seen in Figure 12 e or such as can in Figure 12 f
See such two independent visual light imaging devices to configure the second relative position 246.
Can with thermal imaging device 224 by multiple fillets of the complete image of body 210 are respectively imaged respectively come
Obtain the view data of body 210.Alternatively, the complete image of body 210 is acquired by thermal imaging device, and with multiple
Fillet or the other shapes fractional-sample image are for processing.Used as other alternative, the imaging to body 210 can pass through
It is performed using the different time for exposure.
The thermal imagery diagram data and visible images data obtained from imaging device 214 preferably pass through data processor 230
It is analyzed and processed as follows.The view data obtained from imaging device 222 is processed to build body by data processor 230
The three dimensions of body 210 represents, uses algorithm and method well known in the prior art, such as United States Patent (USP) No.6,442,419
Described method, seems herein herein to be incorporated to the method by reference by illustrate comprehensively as such as it.3d space
Represent the preferably position (comparing Fig. 1 a) comprising reference signs 220.Alternatively and preferably, 3d space is represented and included and body
The color of body 210, tone and the relevant information of tissue texture.The thermal imagery diagram data obtained from imaging device 224 passes through data
The processed thermographic three-dimensional model to build body 210 of processor 230, uses algorithm well known in the prior art and side
Method, such as in United States Patent (USP) No.6, the method described by 442,419.Thermal imaging 3D models preferably (compare comprising reference signs
Fig. 1 b).Thermal imaging 3D models then by processor 230 be mapped to 3d space represent (for example by with reference signs 220
It is aligned) to form heat space image.
The combination of the two or more visible images represented for the 3d space for building body 210, and for building
The combination of two or more thermographies of thermal imaging 3D models can require from different points of view obtain view data (visible ray
Or thermal imaging) between compartmentalization compare.It is this to compare typically two parts process：First, picture element unit cell is selected
The group selected is identified in each single image, and second, an identified group for the picture element unit cell of image is at each
It is matched between image.The present embodiment successfully provides the method for being suitable for improving mark and matching process.
According to a preferred embodiment of the invention, irradiation body, wherein at least one of series point area are arranged with a fauna
Trivial with every other point can separate.The representational example of this series is figure 14 illustrates Figure 14 shows a fauna row
142, one of point area 144 (the 3rd from left to right in present example) is different from every other area.In the representational of Figure 14
In example, series 142 is a line point area, but it is to be understood that the series can have any geometrical property, it is one-dimensional (for example
Row, column, camber line, curve etc.) or two dimension (such as matrix).Point area 144 can be distinguished by any distinguishing characteristics,
Including but not limited to shape, size, wavelength, density and orientation.
Once irradiating body with the series, one or more imaging devices are preferably used to from least two different points of view
Obtain two or more images of body and series.Image can be obtained by using one or more visual light imaging devices
Visible images or by using one or more thermal imaging devices obtain thermography.The wavelength or ripple of series 142
Scope long is adapted with the scope of the imaging device wavelength sensitive to its.Thus, for visible images, generally with visible light wave
Range illumination series 142 long, and for thermography, generally with infrared wavelength range irradiation series 142.
Once image is acquired, differentiable area 144 is preferably identified and is used for all in identification series
Other areas.With reference to the series as an example of Figure 14, in the quantity and the phase in serial midpoint area 144 in known serial midpoint area
In the case of to position (the 3rd from left to right in present example), every other area can be by them relative to an area 144
Relative position is identified.Thus, the method can comprehensively scan all picture element unit cells along a line of image and from
Identified point area starts to check (count) point area.
Thus, the present embodiment will put area 144 and be used as pointer, for indexing the Suo Youdian areas in series 142.This index is big
The big efficiency that improve matching step, because its permission opposite with the matching in an area is matched on Series grades.Due to
The series can have random length in principle, and single series matching can include the major part of image.
Matching allows to calculate the range data at least some areas, more preferably to each the point area in series,
Typically via triangulation.3d space is represented or 3D thermal imagings model can thus be built using range data.
According to another embodiment of the invention, be smallest number point of irradiation area perform point mark and matching, such as 5
Point area, more preferably more preferably 4 Ge Dian areas, more preferably 3 Ge Dian areas, more preferably 2 Ge Dian areas, a single point
Area.In this embodiment, from each viewpoint obtain multiple images, wherein immediately before each this acquisition Shi Yongdian areas to body
Surface on different zones or position irradiation.The mark in point area and matching are held respectively for each this region or position
OK.
In any above-described embodiment, the mark for putting area can be realized by subtraction.More specifically, each image is obtained
Take twice：Once body and another Ci Yongdian areas are not irradiated with point area.The acquired image in the case of without an area
Then subtracted from the image acquired in an area, and remaining data include being related to be with minimum or without background
The most information in the point area of noise.
Will be understood by, find range imaging system and heat space imaging system, all systems as mentioned in the above 120 or such as will be
The other systems being further described below may require calibration steps before acquisition.
The present embodiment successfully provides calibration process, and which employs the database by figure constitution, the database has
Multiple entries, each entry has the angle entry of figure entry and the viewpoint corresponding to the figure entry.Typically via
Figure (such as geometric figure) is projected on the surface and for each viewpoint determines to make each figure from multiple different points of view
Into distortion carry out readiness database in advance.Body is irradiated with figure and obtain body and figure from least two different viewpoints
At least two images.For each image, acquired figure is identified.Access database and search for database and find big
The similar figure entry of identified figure on body with corresponding image.Once for all images find figure entry, accordingly
Angle entry be used by triangulation calculate range data.The advantage of the calibration process of the present embodiment is in data
Search in storehouse in principle can be faster than the total calculation of angle.
The calibration of the heat space imaging system of various one exemplary embodiments of the invention can also be by with more
The pattern of individual wavelength irradiates body to carry out, and wherein at least one wavelength can be by the detection of the thermal imaging device of system and at least one
Individual wavelength can be by the Visible imaging system man side of system.The irradiation unit that this irradiation can be provided is in the prior art
Know.For example, infrared lamp can be used, one in such as IR-50 series, the series can be from Britain's Scitec instruments
Co., Ltd (Scitec Instruments Ltd, UK) is commercial to have bought.Use thermal imaging device and visual light imaging device
Obtain the thermography and visible images of body.By by by the pattern acquired in visual light imaging device and by thermal imaging
Pattern acquired in device is aligned to perform calibration.Thermography and visible images are generally according to a preferred embodiment of the invention
It is acquired simultaneously so that body is substantially static during calibrating.
Alternatively and preferably can be by using such as the index technology being described in further detail above by referring to Figure 14
To carry out the mark of pattern.
With reference now to Figure 15, it is empty according to the 3D for being suitable for building body of various one exemplary embodiments of the invention
Between represent method 150 flow chart.In various one exemplary embodiments of the invention, method 150 is based on thermography and excellent
Selection of land does not use visible images and represents building 3d space.
Method 150 starts and then road step 154 at step 152, irradiates body, example with pattern in step 154
Such as the coding pattern in infra-red range.The pattern can be any shape to allow it to identify.For example, in a reality
In applying example, pattern includes one or more bar codes, in another embodiment, pattern comprising it is all as described hereinbefore.
The point fauna row of series 144, in a further embodiment, combination of the pattern comprising bar code and point fauna row.
Typically, irradiation patterns are carried out using the laser with 3-14 micron wave lengths.According to a preferred embodiment of the invention, adopt
With the CO with 10.6 micron wave lengths2Laser.It is alternatively possible to using infrared lamp, one in such as IR-50 series, be somebody's turn to do
Series can buy from Scitec Instrument Ltd. of Britain (Scitec Instruments Ltd, UK) is commercial.According to by with
Pattern is selected to build desired technology that three dimensions represents.Thus, pattern can be selected to permission time volume
Code and/or space encoding.
Preferably, the pattern being projected on body is changed over time.For example, can be with quick and periodic side
Formula projection pattern series, once projects a pattern.This can be carried out with any one in multiple modes.For example,
Plate with periodically variable transmission coefficient can be moved before irradiation unit.Alternatively, with the saturating of circumferential variation
The disk for penetrating coefficient can be rotated before irradiation unit.Also alternatively, stroboscopic technique can be used rapidly to throw
Shadow stationary pattern series, phase offsets relative to each other.What is be also conceived to is to be used to diffractive-optical element form pattern.Pattern
Can also in the form of a fauna row, (Figure 14 and the explanation enclosed be compared) as being hereinbefore described in further detail.
Preferred irradiation unit for providing pattern is described below.
In various one exemplary embodiments of the invention, irradiation is characterized with pulse length short enough.Preferably, use
The pulse shorter than 20 milliseconds, such as 15 milliseconds or less, more preferably 10 milliseconds or less.
Method 150 then arrives step 156, and wherein one or more thermal imaging devices be used to obtain the one of body and pattern
Individual or more thermography.Thermal imaging device is preferably equipped with suitable optics, its be used in infra-red range from
Body and pattern obtain data.This optics can from such as Israel Holo-Or Co., Ltds (Holo-Or Ltd,
Israel it is) commercial to have bought.In various one exemplary embodiments of the invention, the method is obtained from two or more different points of view
Two or more thermographies of body and pattern.Thermal imaging is performed according to selected types of patterns.For example, use is worked as
During time encoding, the impulsive synchronization of thermal imaging device and irradiation.
According to a preferred embodiment of the invention, the time for exposure of thermal imaging device is less than 20 milliseconds.Preferably, thermal imaging dress
The time for exposure and readout time put are complementary to one another to 20 milliseconds.For example, in one embodiment, the time for exposure is 19 millis
Second and read in 1 millisecond of device.The embodiment figure 16 illustrates.
In alternative embodiment, read be performed simultaneously with single exposure several times.In this embodiment, the time for exposure
It can be 20 milliseconds or shorter.The embodiment shows in Figure 16 b.According to a preferred embodiment of the invention, read cumulatively
It is performed.This can for example by the signal accumulation that will be acquired to the pixel of imaging device previously on stored signal and
Previous signal is not wiped or replaces to carry out.After reading several times, such as every 20 milliseconds, store in imaging device
Pixel in data can be wiped free of.Alternatively, accumulation can digitally be performed.
In alternative embodiment, time for exposure and readout time are both shorter than 20 milliseconds.The embodiment is in Figure 16 c
Show.
According to a preferred embodiment of the invention, the method proceeds to step 158, in this step from being generated by body
The view data of heat is filtered out from acquired thermography.This can be entered by processing (one or more) thermography
OK, digital density filter is for example used.Alternatively, one or more thermographies of body are acquired and without pattern, and
By realizing filtering by being subtracted from the thermography acquired in pattern without the thermography acquired in pattern
The method then arrives step 160, and the range data corresponding to pattern is calculated in this step.Range data can lead to
Cross flying time technology, triangulation technique or any of technology is calculated in the prior art, be see, for example, for this
The 806-808 pages upper S.Inokuchi, K.Sato and F.Matsuda in international conference on the pattern identification record of 1984
" for 3D Object identifyings range finding imaging system (Range imaging system for 3D object
Recognition) " and United States Patent (USP) No.4,488,172, No.4,979,815, No.5,110,203, No.5,703,677,
No.5,838,428, No.6,349,174, No.6,421,132, No.6,456,793, No.6,507,706, No.6,584,
283rd, No.6,823,076, No.6,856,382, No.6,925,195 and No.7,194,112.
The method then arrives step 162, and wherein thermography and range data be used to build the 3d space of body and represent.
Once being fabricated, 3d space is represented and can shown in viewable form, for example, use display device or printing
Machine, or it can digitally be recorded on a computer-readable medium.3d space is represented can also be output, for example, counted
The output of wordization ground is represented and analyzes and/or process its another system or set to being configured to the reception 3d space
It is standby.For example, 3d space represents the system or equipment that can be output to generation heat space image.The method is in step
Terminate at 164.
Figure 17 is the schematic illustration for building the system 170 that the three dimensions of body is represented.System 170 can by with
In execution method 150 or wherein selected step.System 170 includes and is designed and builds for in infra-red range
The irradiation unit 172 of pattern irradiation unit 172.Pattern 174 is shown as bar code, is not necessarily such case, because for
Some applications, pattern is not necessarily intended in the form of a bar code.Thus, pattern 174 can have any shape and texture.Additionally,
Although figure 17 illustrates three patterns, being not necessarily such case, because device 172 can be configured to be more than
The pattern of one irradiates body.Thus, the present embodiment also contemplates pattern series.In a preferred embodiment of the invention, scheme
Index of the case 174 at least partly comprising series 142 to allow such as hereinbefore to be described in further detail.
Device 172 can include laser aid, infrared lamp or can provide the light and optional in infrared ray distance
Ground can also provide any other lighting device of the light in visible-range as described above.System 170 also includes one
Or multiple thermal imaging devices 224, its one or more thermography for obtaining body 210 and pattern 174.Preferably, thermal imaging dress
Put 224 and obtain at least two images from 1 different points of view points.System 170 also includes data processor 230, and its calculating is right
The 3d space of the body 210 that such as should be hereinbefore described in further detail in the range data of pattern and structure is represented.In the present invention
Various one exemplary embodiments in, processor 230 is filtered out from the hot view data generated by body, such as by will not
Subtracted from using the thermography acquired in pattern 174 with the thermography acquired in pattern 174, be such as hereinbefore described in further detail
As.
The technology of the present embodiment be used to obtain and/or analyze the heat space of the part of the outside and internal of body
Image.The technology of the present embodiment can also be used between surgery average of operation periods, in this case can be by heat space system
Will be by the organ of thermal imaging to approach.The heat space for open operation application is best suitable for according to a preferred embodiment of the invention
System is similar to system described above, but it is preferred to have the imaging device of miniaturization is allowing to have easy access to inside
Organ.The embodiment to the surgeon during open operation not only accessible but also moveable internal for being imaged especially
It is useful.
In the case of liver neoplasm (such as adenoma, hepatoma etc.), such as during open operation, surgery doctor
It is raw that imaging device is placed on close at liver and the thermography of liver is obtained to determine the position of the wherein lesion of such as tumour.
Once (one or more) position is determined, surgeon can be with tumors destroyed, such as by excision or coelosis
(cavitation).What is approved is the organ of altitudinal belt blood (extremely bloody), eliminate liver in tumour without
The ability for encroaching on liver organization has maximum importance.Additionally, in the case of extreme, it is swollen containing the amount of can not be cured
The hepatic portion of knurl can be removed, and the remainder for containing small amount tumour (for example shifting) can be by heat space imaging simultaneously
And wherein tumour can be destroyed by excision or coelosis.Said process can also be executed for other organs, such as kidney
Dirty, colon, stomach or pancreas.
Another organ that can be imaged in various one exemplary embodiments of the invention is brain.Brain can be included can
The tumour of many types being diagnosed to be positioned according to the teaching of the present embodiment and alternatively.The representative example of this tumour
Son includes but is not limited to early stage benign tumour, the primary malignant of such as glioblast cancer or astrocytoma of such as meningioma
Tumour and any pernicious transfer of brain is transferred to from such as colon, chest, testis and analog.
This can be implemented, such as during open cerebral operationses.In this embodiment, the part of cranium is removed
And heat space imaging device is inserted into predetermined arrangement, between brain and the remaining part of cranium.
During the technology of the present embodiment can also be used in diffusion minimum.For this inventors contemplate that herein
Commonly known as system 180 and the heat space imaging system schematically shown in Figure 18 a-c.
Reference picture 18a-c, the detection system 182 in occlusion body in its simplest configuration of system 180, the internal detection system
System 182 has one or more thermal imaging devices 184 for obtaining at least one anterior thermography of live body wherein.
Internal detection system 182 is preferably arranged on suitable conveying mechanism with endoscope place formula quilt by by device
Insertion, conveying mechanism such as, but not limited to endoscope detector or conduit.Internal detection system 182 it is preferably flexible with
It is easy to the insertion of its endoscope type.Additionally and preferably internal detection system 182 be sizing (sizewise) and
The uncomfortable minimum so that during internal inspection of the object in non-diffusing is adapted in geometrical construction with the inner chamber of object.Cause
And, internal detection system 182 is preferably used to per rectum, transurethral, Via vagina or transesophageal inspection.
Imaging device 184 is preferably miniature imaging device to allow to be installed in detection system 182.System 180
Data processor 230 is also included, it communicates with detection system 182, such as, through wireless communication system, the wireless communication system has
The first emittor/receiver 186 in detection system 182 and the second emittor/receiver 188 on processor 230.It is standby
Selection of land, communication can set up through order wire 190.The view data obtained by imaging device 184 is transmitted through detection system 182
To processor 230, the processor 230 receives view data and analyzes its synthesis heat space anterior to provide and show live body
Image.The generation of heat space image is as indicated to represent 206 by the way that one or more thermographies are mapped into 3d space
Surface 205.
In various one exemplary embodiments of the invention, detection system 182 is also filled comprising one or more visual light imagings
192 are put, it obtains at least one anterior visible images of live body and will belong to the figure of visible images through detection system 182
As data are sent to processor 230.In this embodiment, processor 230 is it will be seen that light image data are used to build 3d space table
Show.
Alternatively, as shown in fig. 18b, system 180 includes two internal detection systems, 182 and 182 ' is designated as, wherein (one
Individual or multiple) thermal imaging device 184 is installed in detection system 182 and (one or more) visual light imaging device 192
It is installed in detection system 182 '.In this embodiment, detection system 182 and 182 ' is preferably through such as emitter/reception
Machine 186 or order wire 190 communicate with allowing synchronization in-between.
In also having another alternative, as shown in Figure 18 c, system 180 includes two internal detection systems 182 and 182 ',
Each had both had (one or more) thermal imaging device 184 or had had (one or more) visual light imaging device 192.It is similar
In the embodiment of Figure 18 b, detection system 182 and 182 ' preferably communicates in-between.
In various one exemplary embodiments of the invention, system 180 with pattern also comprising for irradiating the anterior photograph of body
Injection device 194.The pattern is used for the calculating of range data, as being hereinbefore described in further detail.Irradiation unit 194 is preferred
Be installed in detection system 182.
In general, system 180 can be used during many diffusion minimums, including but not limited to Arthroscopy
Look into, bronchoscopy, colonoscopy, vaginoscopy, cystoscopy, endoscopic biopsy, gastrocopy, abdomen
Hysteroscope inspection, laryngoscopy, proctoscopy, thoracoscopy, esophagus-stomach-duodenoscopy and endoscope retrogradation
ERCP.
With reference now to Figure 19 a, it is that internal detection system is used for the embodiment to the imaging of stomach heat space wherein
Schematic illustration.Esophagus 360 and the (image credit of stomach 361 are illustrated that in Figure 19 a：National Library of Medicine (NLM) website).
What is be also shown as is to be inserted into by esophagus 360 and be placed on the internal detection system 182 in stomach 361 with conduit 363.Should
Embodiment can be used for the benign tumour to such as liomyoma, or the malignant tumour imaging to such as cancer or lymthoma.
Operator is allowed to obtain esophagus heat space image in itself by the ability of detection system 182 in esophagus insertion body,
So as to position symptom, such as cancer of the esophagus thereon.
With reference now to Figure 19 b, it is that internal detection system 182 be used to be imaged prostate or bladder heat space wherein
Embodiment schematic illustration.Rectum 367, bladder 366, prostate 370 and urethra 369 are illustrated that in Figure 19 b.At this
In embodiment, internal detection system can be inserted into rectum 367 by anus 368 or by urethra 369.When device is visited
When examining system 182 is inserted into by urethra, it can be used to be imaged prostate, in this case the quilt of detection system 182
It is placed at prostate or bladder, detection system 182 is inserted into bladder in this case, as shown in fig. 19b.
With reference now to Figure 19 c, its be wherein detection system 182 be used for uterus, bladder or ovary heat space into
The schematic illustration of the embodiment of picture.Rectum 367, bladder 366, uterus 372 and ovary 373 are illustrated that in Figure 19 c.At this
In embodiment, detection system 182 can be inserted into by vagina 374.Detection system 182 can be alternatively installed on conduit
And it is inserted into uterus.The heat space imaging of the embodiment can be used to positioning or diagnosing the breath in uterus or bladder
Meat.In addition, the embodiment can be used to position and be alternatively used to diagnose the benign tumour (such as myomata) in uterus
Or any of which malignant tumour.For ovary, the embodiment can be used for wherein to any early stage or secondary
Malignant tumour carries out heat space imaging.
In various one exemplary embodiments of the invention, two or more 3d spaces are represented and are fabricated so that different skies
Between represent corresponding to object different attitudes.These embodiments can for any kind of heat space imaging as described above
With.
These 3d spaces represent at least several alternatively and preferably can be with to corresponding attitude
Or the acquisition and the mapping that is represented in corresponding 3d space of corresponding thermography of multiple thermographies, such as providing multiple
Heat space image.
The advantage that multiple 3d spaces are represented is that it can be used as uniformity test by the method for the present embodiment.This
Shown in Figure 20, Figure 20 be suitable for assessment to heat internal in body can distinguishable region determination accuracy method
400 flow chart.
Method 400 starts at step 402 and then arrives step 404, obtains synthesizing heat space figure in step 404
Picture.Heat space image can be generated by method 400 or it can be generated by another method or system, from this
The image of another method or system can be read by method 400.The method then arrives step 406, wherein in live body one or
Multiple inside Three Dimensional Thermal can distinguishable region position and alternatively it is dimensioned.This can by using method 10,
Combination (such as method 10 and 50) between method 50 or any other method, including distinct methods is carried out.Alternatively simultaneously
And preferably, the method also determines one or more source regions, as explained in the above.
Method 400 then arrives step 408, and one or more other 3d spaces that live body is obtained in this step are represented,
Wherein each 3d space is represented corresponding to the different points of view relative to live body and/or the different attitudes corresponding to live body.Method 400
Other 3d space can be built and represent or can be read from by method 400 their another method or system constructing
Other 3d space is represented.
Method 400 then arrives step 410, in this step based on internal Three Dimensional Thermal can distinguishable region, on surface etc.
The expected topological structure of warm line, the other 3d space of at least several structures in being represented for 3d space is represented.It is expected
Topological structure preferably includes the information for being related to the general shape (closure, open) of isopleth, but its can also include it is more
Information, such as temperature data and similar information on surface.Can be by using the position of the interior zone in body, 3D
The shape of space representation, and modeled by the thermal conductivity (it can be isotropic or non-isotropic) to body
Numerically calculate expected topological structure.For example, the method can be by considering as being hereinbefore described in further detail
Hot distance function D builds expected topological structure, sees Figure 10 a-e and the explanation enclosed.
Method 400 then arrives step 412, one or more other heat space images is obtained in this step, wherein often
Individual heat space image corresponds to the different points of view and/or the different attitudes of live body relative to live body.Heat space image can pass through
Method 400 is generated or it can be generated by another method or system, the figure from another method or system
As that can be read by method 400.The method then arrives step 414, in this step (one or more) other heat space figure
As being compared with expected topological structure.If the isothermal topological structure in other heat space image is opened up with expected
Flutter that structure is similar, then the method can determine the position of interior zone and alternatively its size is accurate.Otherwise, the method
Mark mistake, it is determined that mistake has been scanned.Thus, method 400 plays consistency check and determines whether just
Heat can distinguish the uniformity for position of the object in body.
Method 400 then arrives step 418, and the report relevant with comparing in this step is published, and the method is in step
Terminate at rapid 419.
The additional advantage that some 3d spaces are represented be they can be used in preliminary test in come select for be imaged and/
Or the suitable viewpoint point of the attitude of body.Especially, represented at least some 3d spaces, the isothermal expection on surface
Topological structure be preferably fabricated.Once two or more this expected topological structures are, it is known that operator or doctor can
To select to be best suitable for the viewpoint of the attitude for check, imaging and/or body.
As an example it is assumed that live body is the chest of women, and 3d space represents and be obtained when women stands and work as
The second 3d space is obtained when women is to anteflexion body to represent.It is also supposed that being represented for the first 3d space, it is contemplated that topological structure have
Open thermoisopleth, and being represented for the second 3d space, it is contemplated that topological structure there is the thermoisopleth of closure.In such case
Under, operator or doctor may decide that the second attitude of selection (to anteflexion body), because heat can distinguish the determination of the position of object
It is more accurate when dsc data is characterized with the thermoisopleth for closing.
Quilt when preferably heat space imaging will have the thermal change of minimum in the body of the object during the acquisition of thermography
Perform.
With reference now to Figure 21, its be according to various one exemplary embodiments of the invention be suitable for ensure live body generally
The flow chart of the method 420 of the heat condition in stabilization.The method starts at step 422 and then arrives step 424, the step
The thermography series of live body is obtained in rapid 424 from predetermined viewpoint.Method 420 then arrives step 426, in this step heat
As figure is compared to extract the thermal change in image.In various one exemplary embodiments of the invention, step 424 and step 426
Generally it is performed simultaneously.
Can be compared in more than one mode.In one embodiment, each thermography was previously obtained with single
The thermography for taking compares.Alternatively, at least several thermographies are by the thermography ratio previously acquired with multiple (such as whole)
Compared with.Alternatively and preferably, the method then arrives step 427, and thermal change is shown on the display apparatus in this step.
The method then arrives determination step 428, and whether the method determines thermal change in predetermined door in this step
Limit is following.If change is not below thresholding, the method return to step 424.If below thresholding, the method connects for change
To step 430, the report that live body is generally in the heat condition of stabilization is indicated to be published in this step.Threshold value depends on heat
Imaging device and it is typically provided its temperature resolution.Known in the prior art is with 0.1 DEG C and following
The thermal imaging device of resolution ratio.For example, Photon OEM cameras kernel can have been bought and provide small from FLIR is commercial
Temperature resolution, TH9100PMV in 0.085 degree Celsius can buy and provide the heat less than 0.06 degree Celsius from NEC is commercial
Resolution ratio and IVN 3200-HS can buy and provide the temperature resolution less than 0.08 degree Celsius from IMPAC is commercial.Cause
And, according to a preferred embodiment of the invention, threshold value is about 0.1 degree Celsius.
The present invention can also be used to monitor the position of medical treatment device, leading in such as biopsy needle or live body
Pipe.For example, when biopsy needle will be introduced into tumour, heat space imaging is utilized to ensure that the path of the pin
It is appropriate for performing biological tissue and puncturing.Further, since heat space imaging can be used for determining as indicated
The position of tumour and its size is optionally, the process of combination can be used, wherein identical heat space imaging system quilt
For determining the presence of tumour, position and alternatively its size and once biopsy needle is introduced into body it
Be used to monitor its path.
In various embodiments of the present invention, the temperature (pin, conduit etc.) of medical treatment device is arranged to flat with body
The fully different temperature of equal temperature.This ensures that medical treatment device can be detected by heat space imaging system.Once the temperature of medical treatment device
It is set, medical treatment device is introduced into body.One or more synthesis heat space images of body and medical treatment device then can be with
It is generated and is used for the position or path of monitoring arrangement.
With reference now to Figure 22, it is the schematic illustration that can be inserted into the medical treatment device 440 in live body.Device 440 can be by
Use, such as biopsy device, such as performing the chest biopsy process of standard.Device 440
Specific advantage be that it allows when being inserted into body sensing or measurement temperature.Device 440 is preferably dimensionally relative
It is small and do not produce thermal conductivity level by carried out sensing is influenceed wherein.Preferably, device 440 can be with high accurate
Degree detection and the temperature curve of offer tumour and surrounding tissue, to allow when tumour is as small size to the cancer in early stage
Diagnosis.
Device 440 preferably includes hollow-core construction 442, and it has near-end 444, distal end 446 and extends to end from end 444
446 optical fiber 448.Distal end 446 can be the shape at tip to allow device 440 to be easily inserted in body.The quilt of optical fiber 448
Design and build for proximally 444 transmitting heat radiation from distal end 446.Heat radiation can be measured by suitable device or
Record, such as, but not limited to, the thermal imaging device 450 for alternatively being communicated with optical fiber 448.Optical fiber 448 is red by being suitable for guiding
The material of the electromagnetic radiation in outside line scope is made.Optical fiber 448 can be by the material different from the material of structure 442.In the reality
Apply in example, optical fiber 448 is introduced into the passage 452 in structure 442.Alternatively, structure 442 can be infrared by being suitable for guiding
The material of the electromagnetic radiation in line scope is made, and passage can play optical fiber in itself in this case.
Will be understood by the embodiment shown in Figure 22, not the measurement to temperature or the sensing quilt in structure 442
Perform.On the contrary, guiding heat energy by means of the radiation of optical fiber.This is different in essence in known temperature survey detection
Device, such as, in United States Patent (USP) No.6, the detector disclosed in 419,635, the wherein detector perform measurement and by data
It is sent to the position of outside.Thus, from from the point of view of manufacturing process and from device 440 from the point of view of cost and availability be all advantageous
's.
With reference now to Figure 23 a-b, it is the schematic of the irradiation unit 460 according to various one exemplary embodiments of the invention
Diagram.Device 460 can be used in range finding imaging system, for example, irradiate surface to be imaged with pattern.
Light source 162 of the device 460 comprising generation light beam 464, dynamic beam deflector 466 and image formation component 468.
Light source 462 is preferably comprising the laser aid of transmitting laser beam.Light beam 464 can be in visible-range or in infrared ray
In scope, depending on the application used for device 460.What is be also conceived to is the light beam that had both generated in visible-range or generates red
One in the light source of the light beam in outside line scope, such as IR-50 series, it can be from Scitec Instrument Ltd. of Britain commercially
On bought.
Beam deflector 466 is used for dynamically the reflected beams 464 and forms element with comprehensive (thereacross) scan image
468 surface defines such as grating pattern.Beam deflector 466 can include moveable mirror or moveable mirror
Array, such as, but not limited to can be commercial from Co., Ltd of Texas Instruments (Texas Instruments Inc., USA)
Digital micro-mirror device (the Digital Micromirror Device for having boughtTM).Beam deflector 466 can also include electric light list
Unit, it is therefore preferable to which electro-optic crystal, it makes light beam steering in response to the electrical bias applied to it.
Image formation component 468 is preferably observed in Figure 23 b, and Figure 23 b show the unit 468 according to viewpoint A.As institute
As showing, unit 468 includes multiple regions being distinguished, with reference point area 470-1,470-2 ... 470-M ... 470-
N is indicated.In the region being distinguished at least several be preferably designed for forming different images.Region 470 can be
Such as complete set element, diffraction grating and the like.Under any circumstance, region 470 allows the selective transmission of light to cause to wear
Cross the light pie graph picture in region 470.
In operation, when the surface of the scanning element 468 of light beam 464, different images are formed in the different time.Cause
And, device 460 can irradiate surface with pattern series in a periodic manner.The sweep speed of the light beam 464 on unit 468
It is preferably selected to the quick change of the formed image of permission.This is favourable, because its range finding being easy and fast to is imaged.
For example, (such as 20 milliseconds) can be irradiated with the series being made up of 10 or more patterns within the duration of single frame
Surface, so that the speed of range finding imaging improves an order of magnitude.
The present invention is successfully provided for building the technology that the three dimensions of body is represented.The technology is to generally being claimed
It is the improvement of " structured light technique " or the technology of " encoded light technology ".The technology is based on being projected on nonplanar surface
Striped intersects this observation with surface to be capable of the curve of reaction surface feature.The image of curve can be obtained by imaging device
Take, it is used to form multiple measurement points in the plane (being referred to as imaging plane) of imaging device by imaging.The curve and generation
The light source definition of striped is referred to as another plane of optical plane.Have right between the point on point and imaging plane on optical plane
Should be related to.In order to obtain the image of whole surface, coding pattern is projected instead of single striped, thus have " structure light " or
The title of " encoded light ".
Subject matter on known structured light technique be resulting image lateral resolution can not be enhanced it is super
Cross the intrinsic resolution of the projecting apparatus for being used to coding pattern.When the imaging device of many types can be with fairly small picture
When plain size (having the magnitude of some tens of pm) obtains image, high-resolution projecting apparatus cannot almost be obtained.For example,
SVGA projecting apparatus generates 800 stripeds.Drop shadow spread for about 40 centimetres, width (or the adjacent stripes of single striped
Between empty gap) be of about half millimeter.Only produced effects using more accurate and costliness projecting apparatus and not big improve resolution ratio.
For example, XGA projecting apparatus generates 1024 stripeds, so as to can only reduce less than 30% resolution ratio.However, at both
In situation, what is approved is that the width of the single unit being projected extends in some pixels of imaging device, and can be realized
Resolution ratio determined by the resolution ratio of projecting apparatus.
The method 500 and system 600 that the present invention is represented by the three dimensions provided for building body are successfully overcome by
Foregoing resolution ratio limitation.
The flow chart of method and step of description method 500 according to a preferred embodiment of the invention is provided in fig. 24 simultaneously
And in fig. 25 there is provided the schematic illustration of system 600 according to a preferred embodiment of the invention.
Reference picture 24 and Figure 25 in combination, method 500 starts at step 502 and then arrives step 504, in step
In 504 body 610 is irradiated using pattern projector 602.In various exemplary projecting apparatus of the invention, projecting apparatus 602 uses two
Individual or multiple different colors are thrown the pattern 604 of coding in the way of the coding pattern with different colours is mutually staggered
Shadow is on body 610.Figure 25 illustrates be three coding pattern 604a, 604b and 604c for mutually staggering, it can be with
For example corresponding to the coding pattern of feux rouges, green glow and blue light.
Projecting apparatus 602 can be based on any technology well known in the prior art, such as, but not limited to LCD, DLP or its group
Close.Projecting apparatus 602 can provide the pattern of many types.For example, pattern can include some stripeds.Striped can be one
Cause or they can have optical density profile linear gradient.If this pattern allows to identify doing on striped.Pattern
Other types and shape be not excluded outside the scope of the present invention.
Inventionbroadly, projecting apparatus 602 includes light source 606 and optics 608.Light source 606 typically comprises polychromatic radiation
The matrix of unit or element (cell), each of which can be competent at the light output of some domain colors (such as red, green and blueness).
Each illumination unit can also be subdivided into the subelement of two or more monochromes.Thus, for example polychromatic radiation unit can
With including red subelement, green subelement and blue subelement, as known in the art.Alternatively, polychrome
Illumination unit can be operated in the case of without this subdivision, such as in the case of such as DLP projectors.Matrix can be nothing
Source matrix or active matrix.
When light source 606 includes passive matrix, no light is generated in unit and the unit can only stop by light
The transmission of the light of the backlight assembly generation in source, or allow the reflection of light generated by the front end light fixture of light source.In the reality
Apply in example, each illumination unit includes color filter, red, the green of the not same coloured light output of such as color wheel or offer
With the arrangement of blue (RGB) filter.When light source 606 includes active matrix, each illumination unit independently radiant light.At this
In embodiment, each unit can produce white light, and it is then in subelement level by color filter by filtering.Alternatively
Ground, each subelement can be comprising monochromatic photocell, such as light emitting diode or Organic Light Emitting Diode.
The quantity of the multi-color illumination unit of light source 606 is referred to as the resolution ratio of projecting apparatus 602.Such as by by the one of this area
As those of ordinary skill understands, the quantity of pixel is higher, and resolution ratio is better.Known projecting apparatus has 640x480
The resolution ratio (also referred to as VGA projecting apparatus) of unit, the resolution ratio (also referred to as SVGA projecting apparatus) of 800x600 unit,
1024x768 resolution ratio of unit (also referred to as SXGA projecting apparatus), 1400x1050 unit resolution ratio (also referred to as
SXGA+ or SXGA add projecting apparatus) and the 800x600 resolution ratio of unit (also referred to as UXGA projecting apparatus).
Each polychromatic radiation unit is responsible for the unit area on the illuminated surface of irradiation, and the unit area is in the literature
It is referred to as " basic point " or " projected pixel ".The region corresponded to due to projected pixel on surface is (single rather than corresponding irradiation
The physical region of unit), its size depends on the distance between projecting apparatus and illuminated surface, and depending on single from irradiation
The divergence of the light beam of unit's transmitting.Even so, projecting apparatus and given projector distance for giving, projected pixel can be with chi
It is very little to be characterized, such as diameter or area.Projected pixel of the resolution ratio decision of projecting apparatus 602 on illuminated surface is most
Big quantity.Similarly, for the given area coverage of projecting apparatus, resolution ratio is determined in the adjacent projections pixel of projecting apparatus 602
Lateral separation between the heart.
Optical element 608 alternatively controls the light beam generated by light source 606 to provide coding pattern.Optical element 608 can
With including for example focus on or aim at unit, color separation optical system, diffraction grating, complete set element, DMD chip with
And the like.Mutually being staggered between the coding pattern of different colours preferably realized by optical element 608.In the present invention
Various embodiments in, optical element 608 makes different wavelength shift directions with different steering angles.This can for example pass through will
Optical element 608 be designed for alternatively operating with visible-range in predetermined wavelength (such as corresponding to green
Or the wavelength of slightly greeny light) light realize.It is different because optical element 608 is designed to specific wavelength
Optics control is obtained for different wave length.
Projecting apparatus 602 is preferably but without forcibly with the pattern operation of order.In this preferred embodiment, surface quilt
Irradiation causes that two adjacent patterns with different colours are projected in the different time.The pattern of given color preferably passes through
Start the set of illumination unit to generate, wherein being opened in the way of the light of each unit transmitting phase co-wavelength in causing set
The set of dynamic illumination unit.Adjacent pattern can be by starting the phase for launching the illumination unit as the light of different wave length
Generated with set.Thus, according to a preferred embodiment of the invention, at least two adjacent patterns are by using illumination unit
Identity set and be generated.
The wavelength of pattern can correspond to the domain color of unit, or alternatively corresponding to the predetermined mixed of domain color
Close.When the pattern of domain color, such as red pattern are generated, each unit transmitting red light in set.Adjacent figure
Case can for example be generated by starting for the identity set of transmitting green light, and another adjacent pattern can be by starting
Generated for launching the identity set of blue light.Preferably, the order operation of projecting apparatus 602 is for so that the set of unit is opened
Move to launch the pattern with the first color, then identical set is actuated to transmitting has second color pattern etc..It is suitable
Another set of sequence ground unit is actuated to the series of pattern of transmitting with single color etc..
According to a preferred embodiment of the invention, projecting apparatus 602 is designed and builds the coding pattern phase for causing different colours
Mutually stagger less than the amount of the characteristic distance between the center of adjacent projected pixel.Preferably, the coding pattern phase of different colours
The half of the characteristic distance mutually staggered between the center of adjacent projected pixel, more preferably 1/3rd amount.
The present invention is using optical element 608 is to the different responses of different wave length and generates with the size less than projected pixel
The adjacent patterns apart from stagger arrangement.In various embodiments of the present invention, projecting apparatus 602 is grasped with the ordered mode of projecting apparatus 602
Make, to avoid obscuring between adjacent patterns, although the distance between pattern is less than the size of single projected pixel.However, throwing
Shadow instrument 602 can also be operated with synchronous pattern.In this embodiment, obtain (below referring to step 506 and device 612) preferably
Ground uses the arrangement of color filter to allow the mark of adjacent stripes.Under any circumstance, the effective resolution of projecting apparatus 602
It is significantly increased.Preferably, the effective resolution of projecting apparatus 602 is three times of the quantity of illumination unit.
It is highly preferred that the effective resolution of projecting apparatus 602 is nine times of the quantity of its illumination unit.This can be by every
Resolution ratio is brought up into three times in individual transverse dimensions to realize.
Consideration for example produces the RGB projecting apparatus of striped on the surface.There is a certain amount of diverse location can be by the surface
Irradiated with striped.The quantity is generally equal to face width and length in units of projected pixel.When projecting apparatus is with ordered mode
During operation, the quantity of diverse location can increase to three times.Because the specific linear set of illumination unit can be on surface
On the first lateral attitude on project red streak, green color stripe projected on the second lateral attitude on the surface and on surface
On the 3rd lateral attitude on project blue stripe, wherein the stagger arrangement slightly relative to each other of first, second, and third lateral attitude.
Even so, the lateral extent of all three position is roughly equal to the diameter of single projected pixel.Thus, if lighting unit
Set by white stripes (being formed by the mixing of all RGB colors) project on the surface, its width be probably each master
Three times of the width of color stripe.
Such case is shown in Figure 26 a-d, Figure 26 a-d show the first striped 702 at lateral attitude 712
(Figure 26 a), the second striped 704 (Figure 26 b) at the lateral attitude 714, (figure of the Article 3 line 706 at lateral attitude 716
The all these three striped for 26c) and on the 712-716 of lateral attitude extending.
Similar consideration can be carried out to the striped of longitudinal direction and level, resolution ratio is increased to 3x3 in this case
=9 times.
In the various embodiments of various embodiments of the present invention, the displacement between two adjacent stripes of different colours is less than single
The width of individual striped.In theory, when striped width be w when, between two adjacent stripes of different colours mutually stagger for
Xw, wherein 0 ＜ X ＜ 1, more preferably 0 ＜ X≤0.5, even more preferably still 0.3≤X≤0.5, such as 1/3.Citing comes
Say, when the width of striped is for 0.4 millimeter and the three different domain colors of generation of projecting apparatus 602, it is more than 0.15 mutually to stagger
Millimeter.
Method 500 then arrives step 506, and one or more images of coding pattern are obtained in this step to provide image
Data.The acquisition can be carried out by using imaging device 612, such as CCD or similar device.Imaging device 612 sets
Meter and basic function are in the art well known and do not make any detailed description herein.Except performing the basic of image acquisition
(such as, but not limited to read and synchronous CCD chip, background extracting, automatic exposure, automatic focusing etc.) beyond function, device
612 electronic circuit is preferably comprising the storage medium for storing calibration data.
According to a preferred embodiment of the invention, obtaining made a distinction between the coding pattern of different colours.
Thus, the resolution ratio of imaging device 612 is at least high as the effective resolution of projecting apparatus 602.Further, since coding pattern with
The mode of order is generated, and the acquisition of image includes the multiple reading during the single time for exposure.For example, when by three masters
During color, the acquisition of image is included in three readings during the single time for exposure, and for example each pattern for being generated once is read
Go out.What is be also conceived to is the short exposure time as hereinbefore described in further detail (referring to Figure 16 a-c and the explanation enclosed).
Method 500 proceeds to step 508, in this step the 3D positions based on view data calculation code pattern.Pass through
The calculating is performed using image data processor 614, the image data processor 614 is complemented with well known in the prior art
3D positions computational algorithm.
In a broad sense, the algorithm is preferably positioned with the position of coding pattern on image.Alternatively, resulting pattern
Density compared among each other.Once pattern is identified, their 3D coordinates can be determined, as is known in the art
As, such as by triangulation.The geometric parameter of system is learnt generally according to the design of system or uses existing skill
Known suitable calibration process determines in art, the geometric parameter of system such as with pattern according to its be launched it is angle,
The distance between light source and imaging device.The representational example of calibration data include but is not limited to triangulation distances, focal length,
Pixel Dimensions, angled position, the density curve of coding pattern or class likelihood data.The calculating of 3D coordinates typically but is not
Exclusively it is used with two stages：The 3D coordinates in low resolution stage, wherein only a part pattern are determined, and high score
The resolution stage, wherein for all patterns calculate 3D coordinates.The calculating of 3D coordinates is preferably so that allow to determine different colours
The accuracy of adjacent patterns is performed.In other words, the accuracy of calculating is preferably so as to allow with less than adjacent projection
Made a distinction between the object of the amount lateral shift of the distance between pixel.For example, when pattern includes striped, calculating
Accuracy is adaptable with the distance between two adjacent stripes.
Typically, each about 10-20 pattern being made up of about 10-50 striped is sufficiently used for approximation surface
Geometry.The grid of triangle can be divided into provide so as near by using networking algorithm as be known in the art
Like the three dimensional representation on surface.
The method terminates at step 510.
Although combined its special embodiment illustrates the present invention, it is evident that it is many it is alternative, change and change for
Those skilled in the art is obvious.Therefore, it is intended that to include the essence and broad sense model in appended claims
In enclosing it is all this alternative, change and change.The all publication, patents and patent applications mentioned in this manual are by drawing
With being all incorporated into herein, individually open, patent or patent application are specifically and individually asserted and to be led to each
Reference is crossed to be incorporated herein equally.In addition, the reference of any reference or approval are not to be seen as recognizing in this specification
It is this present invention can use with reference to as prior art.
Claims (18)
1. a kind of method that heat determined in live body can distinguish the quantity of object, methods described includes：
The three dimensions that acquisition is defined on the live body is represented and is associated with the surface represented with the three dimensions
Dsc data synthesis heat space image, the feature of the dsc data is the point of at least one hot-zone point on the surface
The closure thermoisopleth in area；
Determine that the interior three-dimensional heat in the live body can distinguishable region based on the synthesis heat space image；
The three dimensions is analyzed to represent to represent interior definition line of demarcation in the three dimensions, wherein positioned at the line of demarcation
Point on side corresponds to the single hot-zone Fen Dian areas on the surface, and is located at the correspondence of the point on the line of demarcation opposite side
In the multiple hot-zone Fen Dian areas on the surface；And
By the interior three-dimensional heat can distinguishable region compared with the line of demarcation so that the heat determined in the live body can be distinguished
The quantity of object.
2. method according to claim 1, also including obtaining at least one thermography and by least one thermal imagery
Figure is mapped in the three dimensions and represents to form the synthesis heat space image.
3. method according to claim 2, wherein at least one thermography includes multiple thermographies.
4. method according to claim 3, wherein in the multiple thermography at least two are in not in the live body
With attitude when be acquired.
5. the method according to any one of claim 1-4, also including obtaining at least one additional synthesis heat space figure
Picture, described at least one additional synthesis heat space image corresponds to the different attitudes of the live body.
6. method according to claim 2, also includes：
The multiple three dimensions for obtaining the live body are represented；And
Represented at least two three dimensions, analyze each three dimensions and represent surface to be represented in the three dimensions
It is upper to determine isothermal expected topological structure.
7. method according to claim 6, also including being at least one thermal imagery based on the expected topological structure
The attitude selection viewpoint of figure and/or the live body.
8. method according to claim 6, also including identifying the live body using the expected topological structure in
Heat can distinguish object.
9. method according to claim 2, also includes：
At least one additional three dimensions for obtaining the live body is represented, corresponding to relative to the live body and/or the work
The different viewpoint of the different attitudes of body；
The interior three-dimensional heat in based on the live body can distinguishable region, represented in described at least one additional three dimensions
Surface on build isothermal expected topological structure；
Obtain at least one additional synthesis heat space image corresponding to the different points of view and/or the different attitudes；
Described at least one additional synthesis heat space image is compared with the isothermal expected topological structure；
And
The issue report related to the comparing.
10., according to any one of claim 1-4 and 6-9 described method, also represented including building the three dimensions.
11. methods according to claim 5, also represent including building the three dimensions.
12. heat being used to determine in live body can distinguish the device of the quantity of object, and described device includes：
Input block, the input block be used for receive be defined on the live body three dimensions represent and with it is described
The synthesis heat space image of the dsc data that the surface that three dimensions is represented is associated, the feature of the dsc data is around the table
The closure thermoisopleth at least one hot-zone Fen Dian areas on face；
Area determination unit, the area determination unit is used to determining based on the synthesis heat space image interior in the live body
Portion's Three Dimensional Thermal can distinguishable region；
Analyzer, the analyzer is represented to represent interior definition boundary in the three dimensions for analyzing the three dimensions
Line, wherein the point on the line of demarcation side corresponds to the single hot-zone Fen Dian areas on the surface, and is located at described
Point on the opposite side of line of demarcation corresponds to the multiple hot-zone Fen Dian areas on the surface；And
Comparing unit, the comparing unit be used for by the interior three-dimensional heat can distinguishable region compared with the line of demarcation so as to
Determine that the heat in the live body can distinguish the quantity of object.
13. devices according to claim 12, also including the imaging device for obtaining at least one thermography, and quilt
It is disposed for at least one thermography being mapped in the three dimensions and represents to form the synthesis heat space
The data processor of image.
14. devices according to claim 13, wherein at least one thermography includes multiple thermographies.
15. devices according to claim 14, wherein in the multiple thermography at least two are in the live body
It is acquired during different attitude.
16. device according to any one of claim 12-15, wherein the input block is configured for obtaining extremely
A few additional synthesis heat space image, described at least one additional synthesis heat space image corresponds to the live body not
Same attitude.
17. devices according to claim 13, also including data processor, the data processor is configured for：
The multiple three dimensions for obtaining the live body are represented；
Represented at least two three dimensions, analyze each three dimensions and represent surface to be represented in the three dimensions
It is upper to determine isothermal expected topological structure；And
Based on the attitude selection viewpoint that the expected topological structure is at least one thermography and/or the live body.
18. devices according to claim 13, also including data processor, the data processor is configured for：
At least one additional three dimensions for obtaining the live body is represented, corresponding to relative to the live body and/or the work
The different viewpoint of the different attitudes of body；
The interior three-dimensional heat in based on the live body can distinguishable region, represented in described at least one additional three dimensions
Surface on build isothermal expected topological structure；
Obtain at least one additional synthesis heat space image corresponding to the different points of view and/or the different attitudes；
Described at least one additional synthesis heat space image is compared with the isothermal expected topological structure；
And
The issue report related to the comparing.
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| CN200880104306.4A Active CN101854846B (en) | 2007-06-25 | 2008-06-25 | Method, device and system for thermography |
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| CN104398240A (en) | 2015-03-11 |
| CN101854846A (en) | 2010-10-06 |
| JP2017122731A (en) | 2017-07-13 |
| CA2691595C (en) | 2017-08-22 |
| EP2164385B1 (en) | 2013-02-20 |
| CN107296592A (en) | 2017-10-27 |
| US8913803B2 (en) | 2014-12-16 |
| JP6097341B2 (en) | 2017-03-15 |
| CN107296592B (en) | 2021-06-15 |
| CA2691595A1 (en) | 2008-12-31 |
| WO2009001357A3 (en) | 2009-05-07 |
| US20150071513A1 (en) | 2015-03-12 |
| HK1207553A1 (en) | 2016-02-05 |
| US9983065B2 (en) | 2018-05-29 |
| JP5773645B2 (en) | 2015-09-02 |
| JP2015226793A (en) | 2015-12-17 |
| US20100135550A1 (en) | 2010-06-03 |
| WO2009001357A2 (en) | 2008-12-31 |
| CN101854846B (en) | 2014-10-22 |
| JP2010531198A (en) | 2010-09-24 |
| EP2164385A2 (en) | 2010-03-24 |
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